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

Jyoti, RK and Malhotra, MK and Ghose, D (2021) Rogue Agent Identification and Collision Avoidance in Formation Flights using Potential Fields. In: 021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, 15-18 Jun 2021, Athens, pp. 1080-1088.

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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. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Collision avoidance; Drones, Agent identifications; Artificial potential fields; Collision with obstacle; Formation flight; Potential field; Repulsive forces; Threat levels; Threshold potential, Aircraft accidents
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Nov 2021 11:35
Last Modified:	20 Nov 2021 11:35
URI:	http://eprints.iisc.ac.in/id/eprint/69898

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