Fig 1

Schematic of the cooperative detection game"

Fig 2

Schematic of the aircraft turning process"

Fig 3

Schematic of the UAV’s detection range"

Fig 4

Schematic of the intruder’s detection range and the threat angle"

Fig 5

Schematic of the UAV’s communication range"

Fig 6

Schematic of artificial potential field method"

Fig 7

Schematic of inescapable area generated by Apollonius circle"

Fig 8

Gap and the better break-through direction"

Fig 9

Offensive strategy of the fast intruder"

Fig 10

Schematic of the defensive formation"

Fig 11

Schematic of UAV patrol trajectory"

Fig 12

Role derivation for UAV swarm"

Fig 13

Schematic of co-defense front point"

Fig 14

Schematic of the UAV’s shortest path"

Fig 15

Schematic of five initial formations"

Fig 16

Schematic diagram of formation 5-3-2"

Table 1

Parameters"

Fig 17

"

Fig 17

Snapshots of the result (formation 5-3-2)"

Table 2

Simulation results when the invaders are born in different positions (500 rounds)"

Fig 18

Box diagram of the first discovery time in the five formations"

Fig 19

Box diagram of the average discovery duration in the five formations"

Table 3

Simulation results of the intruder at different speeds (500 rounds) s"

Table 4

Scores of each formation"

Fig 20

Proportional distribution of discovery duration (Case 2 vs. Case 1)"

Fig 21

Proportional distribution of discovery duration (Case 3 vs. Case 1)"