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Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI,with numerous applications in real-world scenarios. One such scenario isfilming scenes with multiple actors, where the goal is to capture the scenefrom multiple angles simultaneously. Here, we present a formation-based filmingdirective of task assignment followed by a Conflict-Based MAPF algorithm forefficient path planning of multiple agents to achieve filming objectives whileavoiding collisions. We propose an extension to the standard MAPF formulationto accommodate actor-specific requirements and constraints. Our approachincorporates Conflict-Based Search, a widely used heuristic search techniquefor solving MAPF problems. We demonstrate the effectiveness of our approachthrough experiments on various MAPF scenarios in a simulated environment. Theproposed algorithm enables the efficient online task assignment offormation-based filming to capture dynamic scenes, making it suitable forvarious filming and coverage applications.

Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments