Multi-aerial pursuit of an intruder drone using a behavioral approach based on energy

The pursuit-evasion is a model describing many practical problems and applications in the context of Unmanned Aerial Vehicles (UAVs). In this paper, we propose a solution based on a multi-agent scheme with robustness that is able to capture agile intruders. Our solution uses a control scheme based on energy dissipation and robustness to avoid numerical approximations, unlike solutions that solve the Hamilton-Jacobi-Isaacs (HJI) in a numerical way. In addition, the proposed controller ensures asymptotic stability using the Lyapunov theory, with smooth state changes and guarantees the capture of the target. Experimental results demonstrate the performance of the proposed solution even in presence of an agile intruder.