**7. Conclusions and Future Work**

This paper described a set of tools to support autonomous media production with multiple drones. We contributed with an XML-based language for shooting mission description. The language builds upon new concepts, such as events, shooting actions, or shooting roles, to create media production missions. High-level cinematography principles and different shot types can be implemented. Our language has proved to be flexible and adaptable enough to describe current cinematography operations, as new shots and parameters can easily be incorporated. Moreover, the system is able to bridge the gap between common vocabulary from editorial teams and robotics planning tools. We also contributed with our Dashboard, a graphical tool to support the editorial crew creating and executing shooting missions. The Dashboard has been designed to be intuitive and simple, and users can define complex shooting missions by navigating through a few configuration pages, describe shot geometry by clicking on aerial maps, and validate and execute plans for the missions. This tool generates XML files that can be interpreted by our Mission Controller, to compute mission plans and execute them.

Our system has been integrated and tested in a realistic simulator and during experimental media production with actual drones. As future work, we plan to explore the combination of more complex multi-camera shots to assess the capabilities of multi-drone teams for media production from an artistic and editorial point of view.

**Author Contributions:** Conceptualization, A.T.-G., J.C., M.M., F.N., and A.M.; software and validation, Á.M.-R., A.T.-G., M.M., and S.M.; writing and editing, A.T.-G., J.C., M.M., and S.M.; supervision, F.N., A.M., and A.O.; funding acquisition, A.M. and A.O. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 731667 (MULTIDRONE). This publication reflects the authors' views only. The European Commission is not responsible for any use that may be made of the information it contains.

**Conflicts of Interest:** The authors declare no conflicts of interest.
