Shepherd Swarm Interceptor
TypeScript · Three.js · Multi-Agent Systems · Counter-UAS · Algorithm
Description
Multi-phase swarm interception algorithm where 4 pursuer drones coordinate to chase, form around, and intercept a maneuvering target. Published on arXiv (2508.09536).
Algorithm
Four-phase state machine executed by the swarm:
| Phase | Behavior |
|---|---|
| CHASE | Drones approach target toward formation slots |
| FOLLOW | Maintain close proximity (avg distance ≤ 10) |
| FORM | Square ring formation (radius = 5) established around target |
| ENGAGE | Nearest drone becomes STRIKER and intercepts; remaining 3 orbit as SHEPHERDs |
The striker uses predictive pursuit with look-ahead targeting. Formation slots rotate with target heading. Roles are dynamically reassigned each tick based on proximity.
Technical Highlights
- Predictive pursuit — striker aims at predicted future position using target velocity and a configurable time horizon
- Dynamic role assignment — closest drone becomes striker; others maintain formation as shepherds
- Formation control — rotating square ring anchored to target heading with configurable radius
- Phase transition logic — gated by time, average distance, and formation readiness (≥3 drones within tolerance)
Tech Stack
TypeScript, Three.js, Vite, arXiv:2508.09536