  This technical report addresses the problem of optimal surveillance of the
route followed by a dynamic parade using a team of aerial robots. The dynamic
parade is considered to take place within an urban environment, it is
discretized and at every iteration, the algorithm computes the best possible
placing of the aerial robotic team members, subject to their camera model and
the occlusions arising from the environment. As the parade route is only as
well covered as its least-covered point, the optimization objective is to place
the aerial robots such that they maximize the minimum coverage over the points
in the route at every time instant of it. A set of simulation studies is used
to demonstrate the operation and performance characteristics of the approach,
while computational analysis is also provided and verifies the good scalability
properties of the contributed algorithm regarding the size of the aerial
robotics team.
