動的環境における集団行動撮影のためのマルチドローン協調強化
Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments
複数ドローンで集団行動を多角的に撮影するため、編隊ベースのタスク割り当てと衝突ベース探索による経路計画を組み合わせた手法を提案した。
著者: Aditya Rauniyar, Jiaoyang Li, Sebastian Scherer
分類: cs.RO
原文アブストラクト
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple angles simultaneously. Here, we present a formation-based filming directive of task assignment followed by a Conflict-Based MAPF algorithm for efficient path planning of multiple agents to achieve filming objectives while avoiding collisions. We propose an extension to the standard MAPF formulation to accommodate actor-specific requirements and constraints. Our approach incorporates Conflict-Based Search, a widely used heuristic search technique for solving MAPF problems. We demonstrate the effectiveness of our approach through experiments on various MAPF scenarios in a simulated environment. The proposed algorithm enables the efficient online task assignment of formation-based filming to capture dynamic scenes, making it suitable for various filming and coverage applications.
