Laws on self-defense vary greatly from nation to nation. Generally, one cannot hunt down a hypothetical threat but one can defend against an actual threat or even a mistakenly assumed actual threat where no actual threat exists. Alice set it up so that Bob would feel threatened.
In many jurisdictions, the self-defense defense for homicide rests on the state of the mind of the suspect, insofar as it can be determined, and failing that on a "reasonable man"person" standard.
- Presumably Bob genuinely felt threatened by Charlie and says so afterwards. "I thought he/it/whatever was trying to harm me. I didn't know it was a harmless actor." Just how much harm Bob needs to make self-defense stick varies from jurisdiction to jurisdiction. It could be fear of imminent, serious bodily harm, or fear of being victimized in any sort of crime (stand your ground laws).
As the comment by user6726 points out, just protraying a zombie or whatever isn't enough, there has to be threat to Bob. - Bob cannot hunt Charlie down because Charlie "is" an evil lich or whatever. Bob can defend himself against attacks by Charlie and (in some jurisdictions) against intrusions by Charlie in his property. So it makes a difference if Bob hunts in his own backyard or further afield.
- The well-documented and extensive efforts by Alice and Darren to fool Bob should support Bob's statement. Say the court/jury believes that it was reasonable (or at least "not entirely unreasonable") for Bob to be afraid.
- Since the perceived self-defense would apply even if Bob thought the attacker was human, thinking that it was non-human should make little difference. Except that it would further showcase the degree to which Bob was fooled to see a threat.
- If the whole endeavor by Alice and Darren broke laws, the death might fall into felony homicide in some jurisdictions. This one could come to technicalities because Bob wasn't their accomplice. Otherwise, Darren's track record might prevent the two from being charged for negligent homicide.
Consider the well-publicized cases where either the police or civilians shot unarmed menpeople, and say that they thought the victim was armed and a threat to them. If doesn't matter if the victim drew a gun or a wallet, it matters if the shooter can make his or her fears plausible enough.