Detection of Stealthy Adversaries for Networked Unmanned Aerial Vehicles*

TL;DR

This paper introduces model-based observer methods for detecting stealthy cyber intrusions in networked UAVs, enhancing security in cooperative aerial networks through centralized and decentralized detection strategies.

Contribution

It presents novel centralized and decentralized observer techniques specifically designed to detect zero-dynamics and covert attacks on networked UAVs in formation control.

Findings

Effective detection of stealthy intrusions demonstrated in case studies

Decentralized observers operate onboard UAVs using local measurements

Switching communication topology enhances attack detection capabilities

Abstract

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 formation 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.