Coalition Formation for Multiple UAVs Cooperative Search and Attack with Communication Constraints in Unknown Environment

A coalition formation algorithm is presented with limited communication ranges and delays in unknown environment,for the performance of multiple heterogeneous unmanned aerial vehicles(UAVs)in cooperative search and attack missions.The mathematic model of coalition formation is built on basis of the minimum attacking time and the minimum coalition size with satisfying resources and simultaneous strikes requirements.A communication protocol based on maximum number of hops is developed to determine the potential coalition members in dynamic network.A multistage sub-optimal coalition formation algorithm(MSOCFA)with polynomial time is established.The performances of MSOCFA and particle swarm optimization(PSO)algorithms are compared in terms of complexity,mission performance and computational time.A complex scenario is deployed to illustrate how the coalitions are formed and validate the feasibility of the MSOCFA.The effect of communication constraints(hop delay and max-hops)on mission performance is studied.The results show that it is beneficial to determine potential coalition members in a wide and deep range over the network in the presence of less delay.However,when the delays are significant,it is more advantageous to determine coalitions from among the immediate neighbors.

Consensus of multi-vehicle cooperative attack with stochastic multi-hop time-varying delay and actuator fault

A consensus-distributed fault-tolerant(CDFT)control law is proposed for a class of leader-following multi-vehicle cooperative attack(MVCA)systems in this paper.In particular,the switching communication topologies,stochastic multi-hop timevarying delays,and actuator faults are considered,which may lead to system performance degradation or on certain occasions even cause system instability.Firstly,the estimator of actuator faults for the following vehicle is designed to identify the actuator faults under a fixed topology.Then the CDFT control protocol and trajectory following error are derived by the relevant content of Lyapunov stability theory,the graph theory,and the matrix theory.The CDFT control protocol is proposed in the same manner,where a more realistic scenario is considered,in which the maximum trajectory following error and information on the switching topologies during the cooperative attack are available.Finally,numerical simulation are carried out to indicate that the proposed distributed fault-tolerant(DFT)control law is effective.

A game-theory approach against Byzantine attack in cooperative spectrum sensing

In order to solve the Byzantine attack problem in cooperative spectrum sensing,a non-cooperative game-theory approach is proposed to realize an effective Byzantine defense.First,under the framework of the proposed non-cooperative game theory,the pure Byzantine attack strategy and defense strategy in cooperative spectrum sensing are analyzed from the perspective of the Byzantine attacker and network administrator.The cost and benefit of the pure strategy on both sides are defined. Secondly,the mixed attack and defense strategy are also derived. The closed form Nash equilibrium is obtained by the Lemke-Howson algorithm. Furthermore,the impact of the benefit ratio and penalty rate on the dynamic process of the noncooperative game is analyzed. Numerical simulation results show that the proposed game-theory approach can effectively defend against the Byzantine attack and save the defensive cost.

Performance of Analysis Cognitive Radio with Cooperative Sensing under Malicious Attacks over Nakagami Faded Channels

The different realistic propagation channels are faced frequently the multipath fading environments. The main goal of this system design (cognitive radio network) is to improve the efficiency of spectrum access on a non-interfering basis. This system achieves high utilization for the limited spectrum in order to fulfill needs for all users’ demands which are considered as a problem in wireless communications due to rapidly increasing in wireless applications and service. This system is exposed to attack due to the vulnerabilities existence in this system. So, the main outcome of this paper is to investigate the performance of the cooperative sensing in cognitive radio networks under malicious attacks over different channel impairments, and to illustrate the most suitable individual probability of detection in real faded channel by using Nakagami model. This paper illustrates the effectiveness of the attacks and fading on the performance of spectrum sensing process.

UAVs cooperative task assignment and trajectory optimization with safety and time constraints

This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.

A joint mid-course and terminal course cooperative guidance law for multi-missile salvo attack

Salvo attacking a surface target by multiple missiles is an effective tactic to enhance the lethality and penetrate the defense system. However, existing cooperative guidance laws in the midcourse or terminal course are not suitable for long-and medium-range missiles or stand-off attacking. Because the initial conditions of cooperative terminal guidance that are generally generated from the mid-course flight may not lead to a successful cooperative terminal guidance without proper mid-course flight adjustment. Meanwhile, cooperative guidance in the mid-course cannot solely guarantee the accuracy of a simultaneous arrival of multiple missiles. Therefore, a joint mid-course and terminal course cooperative guidance law is developed. By building a distinct leader-follower framework, this paper proposes an efficient coordinated Dubins path planning method to synchronize the arrival time of all engaged missiles in the mid-course flight. The planned flight can generate proper initial conditions for cooperative terminal guidance, and also benefit an earliest simultaneous arrival. In the terminal course, an existing cooperative proportional navigation guidance law guides all the engaged missiles to arrive at a target accurately and simultaneously.The integrated guidance law for an intuitive application is summarized. Simulations demonstrate that the proposed method can generate fast and accurate salvo attack.

Integrated cooperative guidance framework and cooperative guidance law for multi-missile

An integrated cooperative guidance framework for multi-missile cooperatively attacking a single stationary target is proposed in this paper by combining both the centralized and decentralized communication topologies. Once missiles are distributed into several groups, missiles within a single group communicate with the centralized leader-follower framework, while the leaders from different groups communicate using the nearest-neighbor topology. To implement the integrated cooperative guidance framework, a group of Finite-Time Cooperative Guidance（FTCG） laws considering the saturation constraint on FOV（FTCG-FOV） are firstly derived within the centralized leader-follower framework to satisfy the communication topology of missiles in a single group.Then, an improved sequential approach is developed to adapt the FTCG-FOV to satisfy the communication topology between groups. The numerical simulations demonstrate the effectiveness and high efficiency of the integrated cooperative guidance framework and the cooperative guidance laws, as well as the superiority of the developed sequential approach.

Resilient and Safe Platooning Control of Connected Automated Vehicles Against Intermittent Denial-of-Service Attacks

Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumption and vehicle emissions.A fundamental issue in CAVs is platooning control that empowers a convoy of CAVs to be cooperatively maneuvered with desired longitudinal spacings and identical velocities on roads.This paper addresses the issue of resilient and safe platooning control of CAVs subject to intermittent denial-of-service(DoS)attacks that disrupt vehicle-to-vehicle communications.First,a heterogeneous and uncertain vehicle longitudinal dynamic model is presented to accommodate a variety of uncertainties,including diverse vehicle masses and engine inertial delays,unknown and nonlinear resistance forces,and a dynamic platoon leader.Then,a resilient and safe distributed longitudinal platooning control law is constructed with an aim to preserve simultaneous individual vehicle stability,attack resilience,platoon safety and scalability.Furthermore,a numerically efficient offline design algorithm for determining the desired platoon control law is developed,under which the platoon resilience against DoS attacks can be maximized but the anticipated stability,safety and scalability requirements remain preserved.Finally,extensive numerical experiments are provided to substantiate the efficacy of the proposed platooning method.

IWSNs防移动干扰节点的两层协作Stackelberg博弈

针对工业无线传感器网络物理层移动干扰攻击节点的攻击问题,研究sink节点和簇头节点共同抵御攻击的两层协作博弈模型。在簇头节点中选择最佳协作节点,共同抵御移动干扰攻击节点;以网络安全速率为优化目标,将sink节点、最佳协作节点和攻击节点之间的合作竞争关系建模为两层协作Stackelberg博弈模型,采用逆向归纳法求解博弈均衡解。仿真实验结果表明,与未采用协作节点的方案相比,采用的最佳协作节点选择方案对移动攻击节点的抵御效果更佳,且与其他协作博弈功率控制模型相比,两层协作Stackelberg博弈模型可有效提高工业无线传感器网络的安全速率。

结合节点特征和非合作博弈的选择性转发攻击检测

针对无线传感器网络的选择性转发攻击行为,提出了一种结合节点特征和非合作博弈的选择性转发攻击检测(node characteristics and non-cooperative game for selective forwarding attack detection,NC-NCG)方法。该方法通过设置独立监督网络环境,将节点特征中的转发率与门限阈值进行比较,计算小于阈值节点的当前转发率与T时间内平均转发率的偏离程度,根据偏离程度进行二次判定,以提高选择性转发攻击的检测率。同时为提高网络吞吐量,构建了不完全信息的非合作博弈模型,迫使可疑节点参与网络功能,实现节点快速识别。仿真实验结果表明,该方法不仅能够有效识别选择性转发攻击,而且在资源有限的情况下,可以提高网络吞吐量并延长网络生命周期。

基于滑动窗口的协作频谱感知对抗拜占庭攻击

认知无线电技术允许从用户动态地接入主要用户被授权的频谱,提高频谱利用率。协作频谱感知是认知无线电技术的一个重要组成部分,通过空间分集检测主用户信号。然而,由于认知无线网络的开放性,协作频谱感知过程可能会受到拜占庭攻击,恶意用户伪造有关主用户信号的状态信息,然后对主用户的通信造成干扰或自私地占用频谱资源,此外,协作频谱感知因多个从用户协作而需要更多的时间来检测主用户信号,因而将导致协作频谱感知的性能和效率进一步降低。针对上述问题,提出了基于滑动窗口的协作频谱感知方案,以减轻拜占庭攻击的负面影响,提高协作效率。在深入分析融合中心盲的问题的基础上,从恶意用户的角度出发,建立了一个随机拜占庭攻击模型来描述恶意行为。为了解决感知样本融合过程中的盲的问题,提出了一种交付评估机制,为基于滑动窗口的协作频谱感知奠定了坚实的基础,并在一个滑动窗口内进一步评估信誉值,以提高报告阶段的协作效率。仿真结果表明,无论恶意比例如何,基于滑动窗口的协作频谱感知在始终攻击的情况下只需要6个平均样本数就可以提供100%的检测准确率,而在恶意比例超过50%的随机攻击的情况下依然能够展现出显著的性能优势。

Cooperative Guidance for Multimissile Salvo Attack

Cooperative guidance problems of multiple missiles are considered in this article. A cooperative guidance scheme, where coordination algorithms and local guidance laws are combined together, is proposed. This scheme actually builds up a hierarchical cooperative guidance architecture, which may provide a general solution to the multimissile cooperative guidance problems. In the case of salvo attacks which require missiles to hit the target simultaneously, both centralized and distributed coordination algorithms are derived based on the impact-time-control guidance （ITCG） law. Numerical simulations are performed to demonstrate the effectiveness of the proposed approaches.

基于落角和时间约束的巡飞弹末端协同打击策略

为解决集群巡飞弹末制导阶段协同定向打击问题,提出了一种具有落角约束的巡飞弹末端协同打击策略。基于小偏差方法,推导了一种具有落角约束的偏置比例制导律,以解决纵向平面定向打击问题。结合所提制导方案,推导了综合考虑比例控制项和角度控制项剩余时间估计方法。在侧向平面内,设计了一种具有时变系数且不存在除零奇异问题的时间控制偏置项,以解决时间控制问题。此外,以剩余时间为协调变量,利用双层协同架构来解决多枚巡飞弹协同定向打击问题。仿真结果验证了该协同制导策略良好的落角控制和协同打击性能。

滑翔制导炮弹多炮齐射协同弹道规划与协作范围确定方法

针对滑翔制导炮弹多炮齐射打击固定目标的协同攻击场景,为充分发挥整体控制能力,增强打击效果,研究着眼于弹群的协同方案弹道规划问题。首先,考虑到攻击不同距离目标时飞行方案的侧重点与弹道特性差异,为滑翔制导炮弹进行战区划分,并在此基础上建立寻优指标因战区而异的全弹道协同规划模型。其次,针对实战中的战斗队形配置问题,提出一种简单通用的协作范围确定方法。随后,针对现有协同方式在处理多阶段规划问题时存在的适用性或最优性方面的局限,提出一种双层自适应协同策略。最后,分析特殊作战任务引入的额外约束条件对战区划分与协作范围的影响。仿真结果表明,所提方法可以简捷有效地确定可行工况,辅助战斗队形的配置;同时,相比于传统的分布式策略,在所提的协同策略作用下,不同战区内的方案弹道均具有优越性。

基于视线协同和DMPC的载机-防御弹群协同主动防御制导策略

在目标-攻击弹-防御弹群(target-attacker-defenders,TADs)系统中,防御弹群通过与目标(载机)异构协同、弹群间同构协同以保护载机并降低单弹脱靶的风险。针对TADs系统在二维平面下的协同主动防御模型进行了研究,采用机/弹协同和防御弹群协同的两层制导策略。在机弹协同方面,防御弹领弹与载机进行异构协同,考虑载机及防御弹领弹的机动能力限制,采用协同视线制导律(cooperative line of sight guidance,CLOSG)分别得到载机和防御弹领弹的制导指令;在防御弹群协同方面,考虑单弹计算能力约束,拦截时间约束和加速度约束,设计出基于分布式模型预测控制(distributed model predictive control,DMPC)的算法实现弹群从弹和防御弹领弹协同同时抵达并拦截攻击弹。仿真结果表明,多防御弹协同一致拦截制导算法能够实现TADs系统中载机和防御弹群的异构协同主动防御,并实现防御弹群的一致性同时拦截,以降低单弹脱靶的风险。

Multi-Objective Cooperative Salvo Attack Against Group Target

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

Distributed intelligent self-organized mission planning of multi-UAV for dynamic targets cooperative search-attack

This article studies the cooperative search-attack mission problem with dynamic targets and threats, and presents a Distributed Intelligent Self-Organized Mission Planning(DISOMP)algorithm for multiple Unmanned Aerial Vehicles(multi-UAV). The DISOMP algorithm can be divided into four modules: a search module designed based on the distributed Ant Colony Optimization(ACO) algorithm, an attack module designed based on the Parallel Approach(PA)scheme, a threat avoidance module designed based on the Dubins Curve(DC) and a communication module designed for information exchange among the multi-UAV system and the dynamic environment. A series of simulations of multi-UAV searching and attacking the moving targets are carried out, in which the search-attack mission completeness, execution efficiency and system suitability of the DISOMP algorithm are analyzed. The simulation results exhibit that the DISOMP algorithm based on online distributed down-top strategy is characterized by good flexibility, scalability and adaptability, in the dynamic targets searching and attacking problem.

Adaptive cooperative secure control of networked multiple unmanned systems under FDI attacks

With the expanding applications of multiple unmanned systems in various fields,more and more research attention has been paid to their security.The aim is to enhance the anti-interference ability,ensure their reliability and stability,and better serve human society.This article conducts adaptive cooperative secure tracking consensus of networked multiple unmanned systems subjected to false data injection attacks.From a practical perspective,each unmanned system is modeled using high-order unknown nonlinear discrete-time systems.To reduce the communication bandwidth between agents,a quantizer-based codec mechanism is constructed.This quantizer uses a uniform logarithmic quantizer,combining the advantages of both quantizers.Because the transmission information attached to the false data can affect the accuracy of the decoder,a new adaptive law is added to the decoder to overcome this difficulty.A distributed controller is devised in the backstepping framework.Rigorous mathematical analysis shows that our proposed control algorithms ensure that all signals of the resultant systems remain bounded.Finally,simulation examples reveal the practical utility of the theoretical analysis.

拒绝服务攻击下主动配电网的分布式弹性协同控制

针对以交流微电网为主体的主动配电网系统,考虑在通信延迟和拒绝服务攻击双重影响下的频率恢复与功率分配问题。该文在二级控制的过程中提出了一种基于时变采样技术的通信恢复方法。该方法通过引入采样控制方法消除微电网间通信延迟的影响,并在此基础上设计了一种动态通信恢复机制,以确保系统在攻击影响下尽可能快地恢复通信。利用李雅普诺夫理论证明所设计的方法可以实现配电网频率恢复及功率分配的目标。仿真实验结果表明,在拒绝服务攻击影响下配电网的频率仍可恢复到50 Hz且满足功率分配指标。

双机协同空空攻击战术策略分析研究

协同攻击是未来空战的发展趋势,有关不同协同攻击模式下协同作战能够取得的作战效能的评估是协同空空攻击研究需要解决的重点问题。本文分析了空空作战的主要工作流程和效能指标,设计了四种双机协同空空攻击战术策略,并完成仿真分析。通过与单机攻击方式进行对比可以看出,双机协同空空攻击战术策略在攻击距离、命中时间、命中末速等核心战技指标具有显著优势。有关协同空空攻击模式的研究与仿真试验,为协同空空攻击能够带来的作战增益提供了仿真分析,可以为后续多机协同攻击相关技术、战术策略等方面的研究提供重要依据。