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A network of unmanned aerial vehicles (UAVs) provides distributed coverage,reconfigurability, and maneuverability in performing complex cooperative tasks.However, it relies on wireless communications that can be susceptible to cyberadversaries and intrusions, disrupting the entire network's operation. Thispaper develops model-based centralized and decentralized observer techniquesfor detecting a class of stealthy intrusions, namely zero-dynamics and covertattacks, on networked UAVs in formation control settings. The centralizedobserver that runs in a control center leverages switching in the UAVs'communication topology for attack detection, and the decentralized observers,implemented onboard each UAV in the network, use the model of networked UAVsand locally available measurements. Experimental results are provided to showthe effectiveness of the proposed detection schemes in different case studies.

Detection of Stealthy Adversaries for Networked Unmanned Aerial Vehicles*