Cooperative Simultaneous Tracking and Jamming for Disabling a Rogue Drone

Abstract

This work investigates the problem of simultaneous tracking and jamming of a rogue drone in 3D space with a team of cooperative unmanned aerial vehicles (UAVs). We propose a decentralized estimation, decision and control framework in which a team of UAVs cooperate in order to a) optimally choose their mobility control actions that result in accurate target tracking and b) select the desired transmit power levels which cause uninterrupted radio jamming and thus ultimately disrupt the operation of the rogue drone. The proposed decision and control framework allows the UAVs to reconfigure themselves in 3D space such that the cooperative simultaneous tracking and jamming (CSTJ) objective is achieved; while at the same time ensures that the unwanted inter-UAV jamming interference caused during CSTJ is kept below a specified critical threshold. Finally, we formulate this problem under challenging conditions i.e., uncertain dynamics, noisy measurements and false alarms. Extensive simulation experiments illustrate the performance of the proposed approach.

arXiv comment2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

References in corpus (4)

• Defending against Intrusion of Malicious UAVs with Networked UAV Defense Swarms
• Decentralized Search and Track with Multiple Autonomous Agents
• Jointly-Optimized Searching and Tracking with Random Finite Sets
• Probabilistic Search and Track with Multiple Mobile Agents

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• Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent
• Integrated Ray-Tracing and Coverage Planning Control using Reinforcement Learning
• Model Predictive Control For Multiple Castaway Tracking with an Autonomous Aerial Agent
• Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
• Jointly-optimized Trajectory Generation and Camera Control for 3D Coverage Planning
• Joint Estimation and Control for Multi-Target Passive Monitoring with an Autonomous UAV Agent