Aerial Multi-Camera Robotic Jib Crane

MORENO, PATRICIO; PRESENZA, JUAN FRANCISCO; MAS, IGNACIO; GIRIBET, JUAN IGNACIO

IEEE Robotics and Automation Letters

Institute of Electrical and Electronics Engineers Inc.

Año: 2021 vol. 6 p. 4104 - 4109

A formulation based on a team of unmanned aerial vehicles operating as a fully articulated multi-camera jib crane is proposed for the application of aerial cinematography. An optimization-based controller commands the formation to follow an artistic trajectory defined by the director of photography, while actively avoiding collisions and cameras´ mutual visibility. The proposed scheme, based on the cluster-space formulation, presents an intuitive way of maneuvering the virtual camera fixture while automatically adjusting the motions by imposing artistic and safety constraints, facilitating the operator task.