O. Aichholzer, L. E. Caraballo, J. D.-B. nez, R. Fabila-Monroy,
I. Parada, I. Ventura, and B. Vogtenhuber
Task allocation is an important aspect of many multi-robot systems. In this
paper, we consider a new task allocation problem that appears in multi-robot
aerial cinematography. The main goal is to distribute a set of tasks
(shooting actions) among the team members optimizing a certain objective
function. The tasks are given as sequences of waypoints with associated time
intervals (scenes). We prove that the task allocation problem maximizing the
total filmed time by
aerial robots (drones) can be solved in polynomial
time when the drones do not require battery recharge. We also consider the
problem in which the drones have a limited battery endurance and must
periodically go to a static base station. For this version, we show how to
solve the problem in polynomial time when only one drone is available.
