Combining recursive projection and dynamic programming technique in multi UAVs formation anomaly detection

To deal with the problem of anomaly detection in multi UAVs formation, and simplify the complexity of hypothesis testing or probability inequalities, the anomaly detection problem can be transformed to identify some unknown parameters process. To avoid a statistical description on measurement noise, a worthwhile alternative is the bounded noise characterization. In the presence of bounded noise, the projection algorithm with dead zone and its modified form are proposed to identify the unknown parameters, such that the robustness of projection algorithm can be enhanced by increasing a dead zone. Furthermore, dynamic programming technique is introduced to balance the desire for lower present cost with the undesirability of high future cost in determining the anomaly detector, and then the cost of collecting new observations and the higher probability of accepting the wrong hypothesis can be compensated. A numerical example illustrates the characteristic of the anomaly detection problem.