A Computational Method for Identifying Detached UAVs in Autonomous Swarms

For any autonomous swarm UAV operation, detached UAV identification is crucial. At any point during the operation, such as while traveling the mission path to the Target of Interest (ToI), doing the task assigned to the ToI, and returning to the base station, the UAV can be detached. The recovery method might be fairly simple if we can identify separated UAVs, and the swarm could carry out its designated duty accurately. To build a swarm area, we gather border UAVs. However, every boundary UAV should have a communication link within at least one hop neighbor’s communication range. Because of this, we used the convex hull approach to first choose boundary UAVs for this study. Next, a recursive method was used to update the list of border UAVs and determine the swarm area. Following that, we checked to see if any UAVs were located inside or outside of this swarm region. The swarm is in good topology if any UAV is present in the swarm region; otherwise, it is regarded as disconnected from the swarm. For proof testing, we solve the Point-in-Polygon problem using ray crossing points and the signed angle geometric approach.