An Autonomous Detection Approach for Isolated Drones of the Swarm in 3D Environments

. Swarm drones generally used to perform a specific task on Target of Inter-est(ToI). Any members(drones) of the swarm can be outlying at any time during execution time of its assigned task. If any drone outlays during the execution time, performance of the swarm may be degraded and goal may not be achieved. For this reason, detection of isolated drone is very much important. In this paper we propose an autonomous framework to detecting these isolated drones in 3D environment. At first, we collect boundary drones using Gift Wrapping Algo-rithm. But all boundary drone may not be connected at least one hop neighbor. To overcome this limitation, we offered an algorithm. This algorithm will restrict the connectivity between two boundary drone with their communication range and produce a concave polyhedron. Then we tested very drone autonomously wheth-er they lay within the area produced by concave polyhedron. If they lay in the polyhedron, it is treated as in well topology. otherwise treated as an isolated drone. We evaluate our experiment in python language in google colab environ-ment and got 100% detection accuracy.