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Thanks to their mobility, agility, and onboard sensors\u2019 customizability, UAVs have already demonstrated immense potential for numerous commercial applications. The UAVs expansion will come at the price of a dense, high-speed and dynamic traffic prone to UAVs going rogue or deployed with malicious intent. Counter UAV systems (C-UAS) are thus required to ensure their operations are safe. Existing C-UAS, which for the majority come from the military domain, lack scalability or induce collateral damages. This paper proposes a C-UAS able to intercept and escort intruders. It relies on an autonomous defense UAV swarm, capable of self-organizing their defense formation and to intercept the malicious UAV. This fully localized and GPS-free approach follows a modular design regarding the defense phases and it uses a newly developed balanced clustering to realize the intercept- and capture-formation. The resulting networked defense UAV swarm is resilient to communication losses. Finally, a prototype UAV simulator has been implemented. Through extensive simulations, we demonstrate the feasibility and performance of our approach.<\/jats:p>","DOI":"10.1007\/s43926-021-00002-x","type":"journal-article","created":{"date-parts":[[2021,2,24]],"date-time":"2021-02-24T08:05:01Z","timestamp":1614153901000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":45,"title":["Swarm-based counter UAV defense system"],"prefix":"10.1007","volume":"1","author":[{"given":"Matthias R.","family":"Brust","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gr\u00e9goire","family":"Danoy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel H.","family":"Stolfi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pascal","family":"Bouvry","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,2,24]]},"reference":[{"key":"2_CR1","doi-asserted-by":"crossref","unstructured":"Labib NS, Danoy G, Musial J, Brust MR, Bouvry P. 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