Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control

This paper proposes a receding waypoint horizon strategy generating a piecewise polynomial trajectory with minimum jerk and predictive tracking of camera references for quadrotors, in the context of autonomous aerial single- sequence shots in a static environment. In order to deal with the limited on-board computation resources, the camera control is performed with an undersampled model predictive controller generating a set-point trajectory and a feedforward control signal, both used by a larger frequency controller. The performance of the overall strategy is illustrated with a real flight, on a Parrot Bebop 2 drone.