This paper focuses on the decision-making and control problem for multi-drone systems operating under electromag- netic interference. Specifically, for a uniquely modeled multi-drone swarm, the objective is to design a controller that ensures the drones’ positions converge accurately to a Nash equilibrium. To account for the effects of electromagnetic interference, a random graph is used to model communication uncertainties and packet loss between drones. Employ- ing a ”decision-control” two-layer architecture, we propose a new distributed game-theoretic Nash equilibrium (NE) seeking approach that guarantees asymptotic convergence to the NE point. Unlike existing studies on distributed NE seeking, our work incorporates the influence of electromagnetic interference, resulting in a time-varying and random communication graph, which is more representative of real-world scenarios. Furthermore, the dynamics considered in this study include a more comprehensive model of drone mobility, encompassing orientation. Finally, the effectiveness of the proposed method is demonstrated through a simulation example.
