  Quadrotor drones equipped with high quality cameras have rapidely raised as
novel, cheap and stable devices for filmmakers. While professional drone pilots
can create aesthetically pleasing videos in short time, the smooth -- and
cinematographic -- control of a camera drone remains challenging for most
users, despite recent tools that either automate part of the process or enable
the manual design of waypoints to create drone trajectories. This paper
proposes to move a step further towards more accessible cinematographic drones
by designing techniques to automatically or interactively plan quadrotor drone
motions in 3D dynamic environments that satisfy both cinematographic and
physical quadrotor constraints. We first propose the design of a Drone Toric
Space as a dedicated camera parameter space with embedded constraints and
derive some intuitive on-screen viewpoint manipulators. Second, we propose a
specific path planning technique which ensures both that cinematographic
properties can be enforced along the path, and that the path is physically
feasible by a quadrotor drone. At last, we build on the Drone Toric Space and
the specific path planning technique to coordinate the motion of multiple
drones around dynamic targets. A number of results then demonstrate the
interactive and automated capacities of our approaches on a number of
use-cases.
