## 3 Motion Dynamics Input Search Algorithm
The main idea behind the algorithm is to consider the motion dynamics estimation that is influenced by user inputs received from the controller, and also some other case-specific parameters. The information received from the controller includes which joysticks were pushed at which video frame, as well as the push intensities. For instance, if the drone is directed to move upwards, then it makes sense to focus the search only on the upside direction. The same goes with every other direction. The rationale behind this focused approach is the predominantly global nature of the movement in drone-captured footage, especially evident in drone racing scenes. In such scenarios, the drone's motion effectively dictates the movement trajectory of nearly every pixel within the frame, rendering a comprehensive search across all potential diamond locations unnecessary. By knowing the drone's directional movement within the current frame, MDIS optimizes the ME process by selectively searching only relevant diamond locations, thereby reducing both ME and overall encoding times. Figure 3 illustrates the difference between searched locations in DS and MDIS algorithms--locations marked with a red 'X' are searched, while the locations marked with a faded red 'O' are not searched in MDIS. In this particular case, the drone appears to be moving to the right, as evidenced by the exclusion of the left and middle search locations. This is merely one example; search locations can be selectively filtered based on the type of movement being analyzed. The Motion Dynamics Estimator Block in Figure 4 can be imagined as a 'black box' which estimates motion dynamics depending on several parameters, such as the mounting point of the camera (given as an offset from the origin of the vehicle's frame of reference), the default pose of its viewport and user inputs from the controller. Whether the camera is firmly fixed or mobile (attached to a gimbal) is also considered in the MDIS algorithm. The Motion Dynamics Estimator Block is a block that interpolates inside the standard video encoder and instructs the Motion Estimation block which locations will be searched. It is located in the processing unit of the Unmanned System (UxS). Figure 3: Comparative visualization of search patterns: DS algorithm blocks on the left, showcasing a traditional search approach, contrasted with MDIS algorithm blocks on the right, demonstrating the adaptive search based on user input and motion dynamics. Given that tests in this study were performed on simulator footage as well as on real 4K drone sequences, the Motion Dynamics Estimator Block was customized to suit these particular scenarios. To recapitulate, the semantic description of the MDIS algorithm is as follows:  
* Determine the starting MV--Use the AMVP scheme. * Collect data--Obtain data from the Motion Dynamics Estimator block (globally defined parameters mentioned earlier and user input from the controller). * Process data--Analyze the collected data to determine the appropriate search model for the current frame (detailed in Sections 3.2 and 3.3). * Perform integer-block search--Use the determined search model to conduct the integer-block search. * Refine the MV--Apply fractional search to refine the MV.