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Ray, Aaron (author), Pierson, Alyssa (author), Zhu, H. (author), Alonso-Mora, J. (author), Rus, Daniela (author)We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a...conference paper 2021