A cooperative detection game:UAV swarm vs.one fast intruder

This paper studies a special defense game using unmanned aerial vehicle(UAV)swarm against a fast intruder.The fast intruder applies an offensive strategy based on the artificial potential field method and Apollonius circle to scout a certain destination.As defenders,the UAVs are arranged into three layers:the forward layer,the midfield layer and the back layer.The co-defense mechanism,including the role derivation method of UAV swarm and a guidance law based on the co-defense front point,is introduced for UAV swarm to co-detect the intruder.Besides,five formations are designed for comparative analysis when ten UAVs are applied.Through Monte Carlo experiments and ablation experiment,the effectiveness of the proposed co-defense method has been verified.

Robust detection algorithm with triple constraints for cooperative target based on spectral residual

The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illumination variations and interference. To overcome issues above, a robust detection algorithm with triple constraints for cooperative targets based on spectral residual (TCSR) is proposed. Firstly, by designing an asymmetric cooperative target, which comprises red background, green H and triangle target, the captured original image is converted into a Lab color space, whose saliency map is yielded by constructing the spectral residual. Then, the triple constraints are developed according to the prior knowledge of the cooperative target. Finally, the salient region in saliency map is considered as the cooperative target, and it meets the triple constraints. Experimental results in complex environments show that the proposed TCSR outperforms the standard methods in higher detection accuracy and lower false alarm rate.

Kernel fuzzy c-means clustering on energy detection based cooperative spectrum sensing

Cooperation in spectral sensing （SS） offers a fast and reliable detection of primary user （PU） transmission over a frequency spectrum at the expense of increased energy consumption. Since the fusion center （FC） has to handle a large set of data, a duster based approach, specifically fuzzy c-means clustering （FCM）, has been extensively used in energy detection based cooperative spectrum sensing （CSS）. However, the performance of FCM degrades at low signal-to-noise ratios （SNR） and in the presence of multiple PUs as energy data patterns at the FC are often found to be non-spherical i.e. overlapping. To address the problem, this work explores the scope of kernel fuzzy c-means （KFCM） on energy detection based CSS through the projection of non-linear input data to a high dimensional feature space. Extensive simulation results are shown to highlight the improved detection of multiple PUs at low SNR with low energy consumption. An improvement in the detection probability by ～6.78% and ～6.96% at -15 dBW and -20 dBW, respectively, is achieved over the existing FCM method.

Joint optimization algorithm of sensing thresholds and cooperative users in cooperative detection

Cooperative detection is an effective method to improve the spectrum sensing of Cognitive Radio (CR), and its detection performance can be improved through optimization. An optimization algorithm for cooperative detection based on "OR Rule" which can optimize the detection threshold of each user and the number of cooperative users simultaneously is proposed in this paper. The algorithm, which is based on minimizing the error detection probability, adopts partial fusion to improve the detection performance effectively. The simulation results show that the error detection probability of the proposed algorithm is lower than that of the cooperative detection algorithm with the settled threshold, and the better performance can be achieved through choosing fewer users.

Selfish behavior detection of cooperative relay

A selfish behavior detection technique is investigated to assist secure cooperative trans- mission at the physical layer. The detection technique calculates the correlation ratio between signals received from the diversity branches to determine the relay＇ s behavior in amplify and forward coop- eration strategy. The correlation ratio is considerably reduced because the relay＇ s selfish behavior makes the correlation between the received signals in the diversity branch degraded. Simulation re- sults show that the proposed mechanism can effectively detect selfish nodes and performance will be improved significantly with the destination＇ s detection technique.

A SON solution for cell outage detection using a cooperative prediction approach

In order to improve the efficiency of automatic management and self-healing of the self-organizing network(SON),a cell outage problem is investigated and a cooperative prediction-based automatic cell outage detection algorithm is proposed.By the improved collaborative filtering prediction algorithm,the location correlation of users in the wireless network is considered.By incorporating the cooperative grey model prediction algorithm,the time correlation of users motion trajectory is also introduced.Data of users in a normal scenario is simulated and collected for model training and threshold calculating and the outage cell can be effectively detected using the proposed approach.The simulation results demonstrate that the proposed scheme has a higher detection rate for different extents of outage while ensuring the lower communication overhead and false alarm rate than traditional outage detection methods.The detection rate of the proposed approach outperforms the traditional method by around 14%,especially when there are sparse users in the network,and it is able to detect the outage cell with no active users with the help of neighbor cells.

Cooperative detection algorithm of spectrum holes in cognitive radio

To improve the detection performance of sensing users for primary users in the cognitive radio, an optimal cooperative detection algorithm for many sensing users is proposed. In this paper, optimal decision thresholds of each sensing user are discussed. Theoretical analysis and simulation results indicate that the detection probability of optimal decision threshold rules is better than that of determined threshold rules when the false alarm of the fusion center is constant. The proposed optimal cooperative detection algorithm improves the detection performance of primary users as the attendees grow. The 2 dB gain of detection probability can be obtained when a new sensing user joins in, and there is a 17 dB improvement when the accumulation number increases from 1 to 50.

Iterative Noncoherent Block Detection of Coded MPSK for Cooperative Relay Systems

Maximum likelihood(ML) noncoherent block detection techniques are investigated for block-coded MPSK modulation in cooperative decode-and-forward relay systems over slow fading channels.A decision-directed iterative Viterbi algorithm(IVA) is derived for a suboptimal ML noncoherent detection.Simulation results show that the IVA can approach the error performances of the exhaustive detection method but at a lower complexity.

CAND-IDS: A Novel Context Aware Intrusion Detection System in Cooperative Wireless Sensor Networks by Nodal Node Deployment

Cooperative wireless sensor networks have drastically grown due to node co-opera- tive in unaltered environment. Various real time applications are developed and deployed under cooperative network, which controls and coordinates the flow to and from the nodes to the base station. Though nodes are interlinked to give expected state behavior, it is vital to monitor the malicious activities in the network. There is a high end probability to compromise the node behavior that leads to catastrophes. To overcome this issue a Novel Context Aware-IDS approach named Context Aware Nodal Deployment-IDS (CAND-IDS) is framed. During data transmission based on node properties and behavior CAND-IDS detects and eliminates the malicious nodes in the explored path. Also during network deployment and enhancement, node has to follow Context Aware Cooperative Routing Protocol (CCRP), to ensure the reliability of the network. CAND-IDS are programmed and simulated using Network Simulator software and the performance is verified and evaluated. The simulation result shows significant improvements in the throughput, energy consumption and delay made when compared with the existing system.

Complex field network-coded cooperation based on multi-user detection in wireless networks

Cooperative communication can achieve spatial diversity gains,and consequently combats signal fading due to multipath propagation in wireless networks powerfully.A novel complex field network-coded cooperation（CFNCC） scheme based on multi-user detection for the multiple unicast transmission is proposed.Theoretic analysis and simulation results demonstrate that,compared with the conventional cooperation（CC） scheme and network-coded cooperation（NCC） scheme,CFNCC would obtain higher network throughput and consumes less time slots.Moreover,a further investigation is made for the symbol error probability（SEP） performance of CFNCC scheme,and SEPs of CFNCC scheme are compared with those of NCC scheme in various scenarios for different signal to noise ratio（SNR） values.

A Distributed Cooperative Localization Algorithm for Mobile Multi-platforms Oriented to Unpredicted Communication Topology

The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is investigated.To improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix decomposing.Then,the distributed U transformation can be dynamically implemented according to the available communication topology.In the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is used.Each platform’s state can be estimated independently.The error covariance of the state estimates can be updated in the single platform.The algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting path.The applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.

Efficient Centralized Cooperative Spectrum Sensing Techniques for Cognitive Networks

Wireless Communication is a system for communicating information from one point to other,without utilizing any connections like wire,cable,or other physical medium.Cognitive Radio(CR)based systems and networks are a revolutionary new perception in wireless communications.Spectrum sensing is a vital task of CR to avert destructive intrusion with licensed primary or main users and discover the accessible spectrum for the efficient utilization of the spectrum.Centralized Cooperative Spectrum Sensing(CSS)is a kind of spectrum sensing.Most of the test metrics designed till now for sensing the spectrum is produced by using the Sample Covariance Matrix(SCM)of the received signal.Some of the methods that use the SCM for the process of detection are Pietra-Ricci Index Detector(PRIDe),Hadamard Ratio(HR)detector,Gini Index Detector(GID),etc.This paper presents the simulation and comparative perfor-mance analysis of PRIDe with various other detectors like GID,HR,Arithmetic to Geometric Mean(AGM),Volume-based Detector number 1(VD1),Maximum-to-Minimum Eigenvalue Detection(MMED),and Generalized Likelihood Ratio Test(GLRT)using the MATLAB software.The PRIDe provides better performance in the presence of variations in the power of the signal and the noise power with less computational complexity.

PDA DETECTOR FOR DS-CDMA COOPERATIVE SYSTEM

This paper considers the uplink of a cooperative Code-Division Multiple-Access (CDMA) system where parts of mobile nodes serve as source nodes while the others serve as relay nodes at any instant in time. When the non-orthogonal spreading codes are adopted,Multiple Access Interference (MAI) will exist at both the relay nodes and the base node,causing diversity gain to diminish. To mitigate MAI and exploit full advantages of cooperation,the Probabilistic Data Association (PDA) is developed at the relay nodes and the base node. Simulation results demonstrate that some performance gains can be obtained by the PDA detector over the Minimum Mean Square Error (MMSE) detector at high Signal-to-Noise Ratio (SNR) and conversely at low SNR.

Optimal decision threshold for soft decision cooperative spectrum sensing

In order to achieve higher spectrum efficiency in cognitive radio （CR） systems, a closed-form expression of the optimal decision threshold for soft decision cooperative spectrum sensing based on the minimum total error probability criterion is derived. With the analytical expression of the optimal decision threshold, the impact of different sensing parameters on the threshold value is studied. Theoretical analyses show that the optimal threshold achieves an efficient trade-off between the missed detection probability and the false alarm probability. Simulation results illustrate that the average signal-to-noise ratio （SNR） and the soft combination schemes have a great influence on the optimal threshold value, whereas the number of samples has a weak impact on the optimal threshold value. Furthermore, for the maximal ratio combing （MRC） and the modified deflection coefficient （MDC） schemes, the optimal decision threshold value increases and approaches a corresponding individual limit value while the number of CR users increases. But the number of CR users has a weak influence on the optimal decision threshold for the equal gain combining （EGC） scheme.

Weighted Hard Combination for Cooperative Spectrum Sensing in Cognitive Radio Networks

Weighted one bit hard combination for cooperative spectrum sensing is proposed in this paper. Two thresholds are adopted to divide the possible energy value into three weighted regions. If the energy value falls into the corresponding region,it will be judged as "1",no information or "0". When the probability of false alarm is constrained to be constant,the objective is to maximize the probability of detection. The optimization problem is simplified by separating the weight of the middle region into several intervals. Simulation results show that the sensing performance of the proposed scheme is much better than that of the traditional one bit hard combination scheme and almost the same as that of the equal gain combination(EGC) scheme. Moreover,compared with the traditional one bit hard combination,fewer average sensing bits are required to transmit to the data fusion center with the proposed method.

Cooperative Subcarrier Sensing Using Antenna Diversity Based Weighted Virtual Sub Clustering

The idea of cooperation and the clustering amongst cognitive radios(CRs) has recently been focus of attention of research community, owing to its potential to improve performance of spectrum sensing(SS) schemes. This focus has led to the paradigm of cluster based cooperative spectrum sensing(CBCSS). In perspective of high date rate 4th generation wireless systems, which are characterized by orthogonal frequency division multiplexing(OFDM) and spatial diversity, there is a need to devise effective SS strategies. A novel CBCSS scheme is proposed for OFDM subcarrier detection in order to enable the non-contiguous OFDM(NC-OFDM) at the physical layer of CRs for efficient utilization of spectrum holes. Proposed scheme is based on the energy detection in MIMO CR network, using equal gain combiner as diversity combining technique, hard combining(AND, OR and Majority) rule as data fusion technique and antenna diversity based weighted clustering as virtual sub clustering algorithm. Results of proposed CBCSS are compared with conventional CBCSS scheme for AND, OR and Majority data fusion rules. Moreover the effects of antenna diversity, cooperation and cooperating clusters are also discussed.

Cooperative Spectrum Sensing Exploiting a Certain Number of CR Users Based on Multi- Antennas in Cognitive Radio Networks

In this paper,a cooperative spectrum sensing scheme,which is based on cooperation of a certain number of secondary users and cooperative diversity under multi-antenna scenario,is proposed.Under multi-antenna scenario,we set a targeted detection probability and optimize the false alarm probability of the network by choosing a certain number of secondary users with the highest primary user’s signal to noise ratio.The detection performance of the network is also evaluated when all the secondary users are cooperating to illustrate the benefits of the proposed scheme as a contrast.In addition,how to choose the detection threshold of the secondary user is analyzed for the purpose of decreasing the average risk.Theory analysis and simulation results show that the optimum false alarm probability can be derived by cooperating a certain number of secondary users rather than all the secondary users and the detection performance of the network can be further improved if secondary users are equipped with multiple antennas.Also,a minimum average risk can be obtained by optimizing the detection threshold.

Performance analysis and threshold selection for cooperative multiple packet reception based on NDMA

To accurately assess the performance of cooperative multiple packet reception （MPR） based on network-assisted diversity multiple access （NDMA）, non-ideal collision detection is introduced in ALLIANCES （ALLow improved access in the network via cooperation and energy savings）. To provide a unified anatysis frame- work, the length of cooperative transmission epoch is fixed to the detected collision order. The mathematical analysis of potential throughput （PTP） and potential packet loss rate （PPLR） are given under a pessimistic assumption and an optimistic assumption. According to the analysis of PTP and PPLR, threshold selection is done to optimize system performances, e.g. the optimal threshold should guarantee PTP to be maximum or guarantee PPLR to be minimum. In simulations, the thresholds are selected according to PTP under the pessimistic assumption. Simulation results show that the proposed cooperative MPR scheme can achieve higher throughput than NDMA and slotted ALOHA schemes.

Optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing in cognitive radio network

In order to improve the throughput of cognitive radio(CR), optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing was investigated in a CR network that includes multiple users and one fusion center. The frame structure of cooperative spectrum sensing was divided into multiple transmission time slots and one sensing time slot consisting of local energy detection and cooperative overhead. An optimization problem was formulated to maximize the throughput of CR network, subject to the constraints of both false alarm probability and detection probability. A joint optimization algorithm of sensing time and number of users was proposed to solve this optimization problem with low time complexity. An allocation algorithm of cooperative users was proposed to preferentially allocate the users to the channels with high utilization probability. The simulation results show that the significant improvement on the throughput can be achieved through the proposed joint optimization and allocation algorithms.

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.