Pure Pursuit Strategy Enhanced with Defense Margin under Noisy Measurements for Protective Drone Missions

This paper investigates the problem of protecting a safe zone against rogue drone intrusion when the defender has noisy observations. The conventional strategies were not sufficient to achieve high mission success rates, prompting the introduction of a concept called defense margin. The proposed strategy improves upon the Pure Pursuit (PP) strategy by incorporating the defense margin strategy, offering better performance compared to using either strategy alone. Simulation results demonstrate the effectiveness of the proposed strategy, resulting in higher mission success rates.