Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence

Table 10

Comparison of different attack methods.

Method		Target	Attack effect
Physically	Son et al. [27]	Gyroscopic sensor	Crash
	Choi et al. [28]	GPS sensor	Path deviation
	Trippel et al. [29]	Accelerometers	Unstable flight
	Davidson et al. [20]	Optical flow sensor	Position error
	Tippenhauer et al. [19]	GPS sensor	Position error
Through malware	Dash et al. [11]	Software stack	Unstable flight
	Mazloom et al. [10]	Software stack	Unstable flight
Wirelessly	Highnam et al. [30]	Wireless channel	Disrupted communications
	Ghanavati et al. [31]	PDE algorithm	Time delay
	Our method	Flocking algorithm	Time delay