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Local interaction and navigation guidance for hunters drones: a chase behavior approach with real-time tests

Abstract : Abstract A behavioral-based strategy for cooperative hunting using drones is proposed in this paper. In this decentralized scheme, each drone acts as an individual agent computing its guidance strategy toward the target based on the relative position of its neighbors without the use of direct communication. The algorithm is based on the deviated pure pursuit methodology, and the emerged behavior mimics a natural hunting formation. Simulations and real-time experiments with varying conditions were carried out to validate the effectiveness of the proposed hunting scheme.
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https://hal-cnrs.archives-ouvertes.fr/hal-03842732
Contributor : Pedro Castillo Garcia Connect in order to contact the contributor
Submitted on : Monday, November 21, 2022 - 2:14:20 PM
Last modification on : Tuesday, November 29, 2022 - 7:50:51 AM

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C. de Souza, P. Castillo, B. Vidolov. Local interaction and navigation guidance for hunters drones: a chase behavior approach with real-time tests. Robotica, 2022, 40 (8), pp.2697-2715. ⟨10.1017/S0263574721001910⟩. ⟨hal-03842732⟩

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