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