Optimal Voronoi-based Control Algorithm for Drone Intrusion Detection

The multitude of illegal drone activities is difficult to detect and these activities may hamper the functioning of major facilities, terrorist attacks, or attacks on specific people. A mechanism, capable of detecting the multiple threats generated by the intruder drones, should be developed. Predicting the drone threats in space and time is a key challenging issue. This paper proposes the Voronoi-based control law for keeping the drone within geofencing with consideration of boundary and obstacle constraints. The optimal control laws force the drone to switch from one Voronoi region to another Voronoi region. For optimal path planning the cost of region, the cost of altitude, and the cost of horizontal and vertical movements are formulated.