A Cooperative Detection Game: UAV Swarm vs. One Fast Intruder

Abstract

This paper studies a special defense game using unmanned aerial vehicle (UAV) swarm against a fast intruder. The fast intruder applies an offensive strategy based on the artificial potential field method and Apollonius circle to scout a certain destination. As defenders, the UAVs are arranged into three layers: the forward layer, the midfield layer and the back layer. The co-defense mechanism, including the role derivation method of UAV swarm and a guidance law based on the co-defense front point, is introduced for UAV swarm to co-detect the intruder. Besides, five formations are designed for comparative analysis when ten UAVs are applied. Through Monte Carlo experiments and ablation experiment, the effectiveness of the proposed co-defense method has been verified.