  We address the problem of assigning a team of drones to autonomously capture
a set desired shots of a dynamic target in the presence of obstacles. We
present a two-stage planning pipeline that generates offline an assignment of
drone to shots and locally optimizes online the viewpoint. Given desired shot
parameters, the high-level planner uses a visibility heuristic to predict good
times for capturing each shot and uses an Integer Linear Program to compute
drone assignments. An online Model Predictive Control algorithm uses the
assignments as reference to capture the shots. The algorithm is validated in
hardware with a pair of drones and a remote controlled car.
