This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor helicopters have become commonplace in cinematography, their usage is limited to scenarios with sufficient natural light or of lighting provided by static artificial lights. We propose to use a formation of unmanned aerial vehicles as a tool for filming a target under illumination from various directions, which is one of the fundamental techniques of traditional cinematography. We decompose the multi-UAV trajectory optimization problem to tackle non-linear cinematographic aspects and obstacle avoidance at separate stages, which allows us to re-plan in real time and react to changes in dynamic environments. The performance of our method has been evaluated in realistic simulation scenarios and field experiments, where we show how it increases the quality of the shots and that it is capable of planning safe trajectories even in cluttered environments.

翻译：这封信描述了由一组无人驾驶飞行器(无人驾驶飞行器)提供分布式照明的自主航空电影摄影方法。虽然摄影机携带多色直升机在电影中已司空见惯,但其使用仅限于具有足够自然光的情景或静态人造灯提供的照明。我们提议使用编造的无人驾驶飞行器作为从不同方向拍摄受射目标的工具,这是传统电影摄影的基本技术之一。我们将多式飞行器轨道优化问题分解为处理非线性电影问题和不同阶段的障碍避免问题,这使我们能够实时重新规划,并对动态环境中的变化作出反应。我们的方法的性能已在现实的模拟情景和实地实验中进行了评估,我们展示了它如何提高拍摄质量并能够规划即使在布满环境中的安全轨道。</s>