*6.3. Integration with Real Drones*

After validating the system in simulation, we integrated our tools with custom-built drones to run media production on real outdoor events. Figure 13 shows one of our drones, based on an hexarotor platform (120 cm of diagonal distance) with a Pixhawk 2.1 autopilot running PX4 [24]. The payload consists of an Intel NUC computer, a Here + RTK GNSS, a communication board, and a gimbal with a Blackmagic Micro Cinema camera.

**Figure 13.** One of the drones used for autonomous media production.

The MULTIDRONE consortium ran some experimental media production in a countryside area near Bothkamp, in the north of Germany. We tested our system in mock-up, outdoor scenarios, implementing missions (e.g., shooting cyclists and rowers) with one to three drones and different shot types. The objective was to demonstrate the integration of the whole system and to explore the artistic possibilities of our tools for media production.

In particular, Figure 14 depicts some snapshots from an experiment where two drones have to shoot a rowing race in a lake. In that experiment, the original shooting mission consists of a lateral shot that runs concurrently with a fly-through followed by a static panoramic. The first shot is performed by one of the drones, which flies parallel to the boats over the yard. The other two shots are carried out by the other drone, which goes over the lake coming through the trees, and then keeps static following the rowers with the camera. In this case, one of the boats carries a GNSS receiver sending their position to the computers on board the drones, so that the gimbal cameras can track them all time as shooting targets. A video showing the whole shooting mission is available online (https://www.youtube.com/watch?v=COay0hZsMzk&feature=youtu.be).

**Figure 14.** Experimental media production of a rowing race with two drones. The images are taken from the cameras on board the drones: the drone taking the lateral shot from the yard (**left**), and the drone taking the static shot after the fly-through (**right**).
