@ARTICLE{7847361, author={Nägeli, Tobias and Alonso-Mora, Javier and Domahidi, Alexander and Rus, Daniela and Hilliges, Otmar}, journal={IEEE Robotics and Automation Letters}, title={Real-time Motion Planning for Aerial Videography with Dynamic Obstacle Avoidance and Viewpoint Optimization}, year={2017}, volume={2}, number={3}, pages={1696-1703}, keywords={Cameras;Collision avoidance;Planning;Real-time systems;Robots;Trajectory;Vehicle dynamics;Intelligent cinematography;MPC;path planning}, doi={10.1109/LRA.2017.2665693}, ISSN={2377-3766}, month={July},}