  This paper proposes a planning algorithm for autonomous media production with
multiple Unmanned Aerial Vehicles (UAVs) in outdoor events. Given filming tasks
specified by a media Director, we formulate an optimization problem to maximize
the filming time considering battery constraints. As we conjecture that the
problem is NP-hard, we consider a discretization version, and propose a
graph-based algorithm that can find an optimal solution of the discrete problem
for a single UAV in polynomial time. Then, a greedy strategy is applied to
solve the problem sequentially for multiple UAVs. We demonstrate that our
algorithm is efficient for small teams (3-5 UAVs) and that its performance is
close to the optimum. We showcase our system in field experiments carrying out
actual media production in an outdoor scenario with multiple UAVs.
