Jyoti, Ravinder Kumar (Indian Institute of Science), Malhotra, Mohit Kumar (Indian Institute of Science), Ghose, Debasish (Indian Institute of Science)

Rogue Agent Identification and Collision Avoidance in Formation Flights Using Potential Fields

Scheduled for presentation during the Regular Session "UAS Applications IV" (FrA4), Friday, June 18, 2021, 10:20−10:40, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 16, 2024

Abstract

In this paper, an artificial potential field based technique is proposed for maintaining a formation of drones, for identifying rogue drones, and for avoiding collision with obstacles and rogue drones. Rogue drone identification is done by using a threshold potential value which is also used to identify the threat level of neighbouring drones. A novel assistive potential field concept is introduced to implement a collision avoidance strategy that helps the formation to avoid collision with the rogue drone as well as other obstacles. A pair of hyperplanes are defined using which the repulsive forces are generated. Simulations are presented to demonstrate the efficacy of the approach.