This paper addresses the problem of $n$ unmanned aerial vehicles (UAVs) pursuing a swarm of target UAVs moving on a plane. The target UAVs are assumed to be flying together as a flock. The flock is initially modeled as a circle whose radius can be time varying, and this is subsequently generalized to arbitrarily shaped swarms that may change in size. Capture is said to occur when the $n$ pursuing UAVs have successfully enclosed the target swarm within their convex hull. In subsequent scenarios, the pursuing UAVs are assumed to be carrying a rope line in an open-chain configuration, and capture is said to occur when the pursuing UAVs have (in addition to enclosing the target UAV swarm within their convex hull) also ensured that their formation approaches the target at an appropriate orientation that corresponds with the open end of the rope line. The guidance laws are developed based on a collision cone framework, using which the pursuing UAVs can cooperatively steer the velocity vector of any point in their convex hull, to intercept the target. Analytical expressions of these nonlinear cooperative pursuit guidance laws that govern the acceleration commands of the UAVs are determined. Simulations are performed using kinematic models, and they demonstrate that the pursuing UAVs are able to successfully surround the target UAV swarm.

本文解决了 $ñ$追求在飞机上移动的大量目标无人机的无人飞行器（UAV）。假定目标无人机作为群一起飞行。最初将羊群建模为半径可以随时间变化的圆，然后将其概括为大小可能变化的任意形状的群体。据说捕获发生在$ñ$追求无人机已成功将目标群封闭在其凸包内。在随后的场景中，假定正在追捕的无人机携带的是开链配置的绳索，当追捕的无人机（除了将目标无人机群封装在其凸包内）还确保了捕获时，即发生了捕获。它们的形成以与绳索的开口端相对应的适当方向接近目标。制导律是在碰撞锥框架的基础上开发的，追求的无人机可以通过该框架协同操纵其凸包中任意点的速度矢量，以拦截目标。确定这些支配无人机加速命令的非线性合作制导准则的解析表达式。