Fecha de publicación: 01/12/2022 Fuente: WIPO "swarm" The present disclosure addresses the problem of UAVs pursuing a swarm of target UAVs. The target UAVs are flying together as a flock that are initially modeled as a circle having a time-varying radius or an arbitrarily-shaped swarm that may change in size. Guidance of the pursuing UAVs is developed based on a collision cone framework, wherein the pursuing UAVs cooperatively steer the velocity vector of any point in their convex hull, to intercept the target. Also, the problem of capturing a swarm of intruder UAVs using a net manipulated by a team of defense UAVs is disclosed. The intruder UAV swarm may be stationary, in motion, and even maneuver. Collision cones in 3-dimensional space are used to determine the strategy used by the net carrying UAVs to maneuver or manipulate the net in space in order to capture the intruders.