Research Article
Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence
Table 1
Desired heading angles based on different policies in the flocking algorithm.
| | Policies | Desired heading angles | Notation |
| | Cohesion | | : the centroid of all UAVs in sensor range |
| | Dispersion | | : the centroid of all UAVs within the range |
| | Following |
| : the coordinate of the randomly selected UAV
: the coordinate of the nearest UAV |
| | Homing | | : the destination coordinate |
| | Alignment | | : the heading angle of -th UAV | | |
| | Combined |
| : weights | | |
|
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