Developing an algorithm for designing a behavioral schemas for UAV robot -- 2

I want to develop two different algorithms to solve the following project : Consider that a UAV blocking an exit consists of a helicopter body with a camera that can pan and tilt independent of the body (i.e., the body can stay in one place while the camera moves). The UAV is programmed to have three behaviors: watching, approaching, and threatening. In watching, the UAV is stationary at above eye level, but the camera scans the area in front. In approaching, the UAV moves to eye level, and the camera tracks the center of the crowd. In threatening, the UAV performs random motions if the crowd gets too close. The UAV has the following motor schemas (with arguments missing for brevity): fly-at-given-altitude(), body-turn(), body-move-sideways(), body-move-random-3D(), and camera-pan-tilt() . It has the following perceptual schemas: detect-motion() and detect-object-distance().

Design the behavioral scheme using:

a. potential fields methodology.

b. subsumption architecture methodology.

the code could be with any programming language. you can take the reference from the attach file (No of pages 25). and I want the selected freelancer to add explanation for the work. it can be in a video chat.

Skills: Algorithm, Matlab and Mathematica, Robotics and Cognitive Automation, C Programming

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