Detection of Stealthy Adversaries for Networked Unmanned Aerial Vehicles* [article]

Mohammad Bahrami, Hamidreza Jafarnejadsani
2022 arXiv   pre-print
A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber adversaries and intrusions, disrupting the entire network's operation. This paper develops model-based centralized and decentralized observer techniques for detecting a class of stealthy intrusions, namely zero-dynamics and covert attacks, on networked UAVs in
more » ... ation control settings. The centralized observer that runs in a control center leverages switching in the UAVs' communication topology for attack detection, and the decentralized observers, implemented onboard each UAV in the network, use the model of networked UAVs and locally available measurements. Experimental results are provided to show the effectiveness of the proposed detection schemes in different case studies.
arXiv:2202.09661v2 fatcat:3ldgmdngq5h5bkkkjwgfiijma4