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While professional drone pilots can create aesthetically pleasing videos in short time, the smooth\u2014and cinematographic\u2014control of a camera drone remains challenging for most users, despite recent tools that either automate part of the process or enable the manual design of waypoints to create drone trajectories.<\/jats:p>\n          <jats:p>\n            This article moves a step further by offering high-level control of cinematographic drones for the specific task of framing dynamic targets. We propose techniques to automatically and interactively plan quadrotor drone motions in dynamic three-dimensional (3D) environments while satisfying both cinematographic and physical quadrotor constraints. We first propose the\n            <jats:italic>Drone Toric Space<\/jats:italic>\n            , a dedicated camera parameter space with embedded constraints, and derive some intuitive on-screen viewpoint manipulators. Second, we propose a dedicated path planning technique that ensures both that cinematographic properties can be enforced along the path and that the path is physically feasible by a quadrotor drone. At last, we build on the\n            <jats:italic>Drone Toric Space<\/jats:italic>\n            and the specific path planning technique to coordinate the motion of multiple drones around dynamic targets. A number of results demonstrate the interactive and automated capacities of our approaches on different use-cases.\n          <\/jats:p>","DOI":"10.1145\/3181975","type":"journal-article","created":{"date-parts":[[2018,7,27]],"date-time":"2018-07-27T12:20:13Z","timestamp":1532694013000},"page":"1-18","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":54,"title":["Directing Cinematographic Drones"],"prefix":"10.1145","volume":"37","author":[{"given":"Quentin","family":"Galvane","sequence":"first","affiliation":[{"name":"Technicolor, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christophe","family":"Lino","sequence":"additional","affiliation":[{"name":"Inria, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marc","family":"Christie","sequence":"additional","affiliation":[{"name":"Inria, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Julien","family":"Fleureau","sequence":"additional","affiliation":[{"name":"Technicolor, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fabien","family":"Servant","sequence":"additional","affiliation":[{"name":"Technicolor, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fran\u00e7ois-Louis","family":"Tariolle","sequence":"additional","affiliation":[{"name":"Technicolor, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Philippe","family":"Guillotel","sequence":"additional","affiliation":[{"name":"Technicolor, Rennes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2018,7,27]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Grammar of the Film Language","author":"Arijon D.","unstructured":"D. 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