Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence

<div>The heading angle of a UAV in its sensor range. By combining the 5 policies’ weight, the heading angle is calculated according to vector addition.</div>

Security and Communication Networks

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Figure 2

Figure 2: Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence 