부산대학교 도서관

In this paper, we perform the actual verification of the anomaly detection (AD) model of each drone that indicates the anomaly in swarm drone flight using the actual flight data. For this purpose, we use a model-based AD method that uses data accumulated through actual flight tests. The AD model uses a deep neural network-based generation model to create a training model with normal data and perform tests with abnormal data. As a result, the diagnostic results of mainly three cases are derived and analyzed for validity. The proposed AD method can be integrated with a machine learning based framework that can immediately detect abnormal behavior of swarm drone flights, which can be utilized to improve the reliability of swarm drone flight operations.