Research Article
Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence
Algorithm 1
Data spoofing attack algorithm.
| Input: (arrival determining threshold), (-th UAV) | | Output: (desired combined heading angle of the i-th UAV after the attack) | (1) | //normal | (2) | when the first-arrival is within scope of its destination then: | (3) | sends arrival status (T) to the following UAVs; | (4) | flies along its desired combined heading angle calculated by flocking algorithm without ; | (5) | //with attack | (6) | when the first-arrival is within scope of its destination then: | (7) | Attacker masquerades as exploiting rushing attack; | (8) | The attacker generates data spoofing of arrival status and sends the malicious arrival status (F) to following UAVs; | (9) | flies along its desired combined heading angle calculated by flocking algorithm including ; | (10) | return |
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