Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (6): 1565-1575.doi: 10.23919/JSEE.2023.000093

• SYSTEMS ENGINEERING • Previous Articles     Next Articles

A cooperative detection game: UAV swarm vs. one fast intruder

Zhiwen XIAO(), Xiaowei FU()   

  1. 1 School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710129, China
  • Received:2021-08-31 Online:2023-12-18 Published:2023-12-29
  • Contact: Xiaowei FU;
  • About author:
    XIAO Zhiwen was born in 1998. He received his bachelor degree in detection, guidance and control technology from Northwestern Polytechnical University, Xi’an, Shaanxi, China, in 2020. He is now pursuing his Ph.D. degree in Northwestern Polytechnical University. His research interest is cooperative control of UAV swarm. E-mail:

    FU Xiaowei was born in 1976. He received his Ph.D. degree from Northwestern Polytechnical University in 2004. He is an associate professor at the School of Electronics and Information, Northwestern Polytechnical University. His research interests include cooperative control and decision-making of unmanned systems, and unmanned swarm intelligent technology. E-mail:
  • Supported by:
    This work was supported by the Aeronautical Science Foundation of China(2020Z023053001).


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.

Key words: cooperative detection game, unmanned aerial vehicle (UAV) swarm, fast intruder, defensive strategy, co-defense mechanism