  Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI,
with numerous applications in real-world scenarios. One such scenario is
filming scenes with multiple actors, where the goal is to capture the scene
from multiple angles simultaneously. Here, we present a formation-based filming
directive of task assignment followed by a Conflict-Based MAPF algorithm for
efficient path planning of multiple agents to achieve filming objectives while
avoiding collisions. We propose an extension to the standard MAPF formulation
to accommodate actor-specific requirements and constraints. Our approach
incorporates Conflict-Based Search, a widely used heuristic search technique
for solving MAPF problems. We demonstrate the effectiveness of our approach
through experiments on various MAPF scenarios in a simulated environment. The
proposed algorithm enables the efficient online task assignment of
formation-based filming to capture dynamic scenes, making it suitable for
various filming and coverage applications.
