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1. Development of a Laboratory Platform for UAV Cybersecurity Education

   Jiang, Yushan ; Yuan, Jiawei ; Sun, Lulu ; Song, Houbing ( January 2021 , 2021 ASEE Virtual Annual Conference)

   null (Ed.)

   There is an increasing need to fly unmanned aerial vehicles (UAVs) to enable a wide variety of beneficial applications such as emergency/disaster response, observation and study of weather phenomena including severe storms. However, UAVs are subject to cybersecurity threats stemming from increasing reliance on computer and communication technologies. There is a need to foster a robust workforce with integrated UAV and cybersecurity competencies. In addition to technique challenges, current UAV cybersecurity education also faces two significant non-technical challenges: first, there are federal or state rules and regulations on UAV flights; second, the number of designated UAV test sites is limited. A three years NSF SaTC funded project in 2020 will specifically address these challenges. We propose to develop a laboratory platform for UAV cybersecurity education. To be specific, our platform integrates software simulation with hardware-in-the-loop (HIL) simulation to simulate different UAV scenarios, on the top of which cybersecurity components are developed for hands-on practicing. We use a firmware for UAV system development, Pixhawk with related open-source software packages, as the basic simulation framework. On the top of the simulation environment, a series of hands-on exercise modules will be developed to cover UAV cybersecurity issues. Motivated by different types of cybersecurity threats to UAVs, we will adopt the scenario based design and set up several categories of exercise modules including common threats in UAV and additional modules for newly identified threats with corresponding actors, goals, actions, and events. In such a manner offense and defense tasks can be further developed. The proposed platform has the potential to be adopted by universities with limited resources to UAV cybersecurity. It will help educate future workforce with integrated UAV and cybersecurity competencies, towards secure and trustworthy cyberspace around UAVs. 

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2. Counter UAV Swarms: Challenges, Considerations, and Future Directions in UAV Warfare

   https://doi.org/10.1109/MWC.003.2400047  

   Sherman, Michelle ; Shao, Sihua ; Sun, Xiang ; Zheng, Jun ( January 2024 , IEEE Wireless Communications)

   Modern advances in unmanned aerial vehicle (UAV) technology have widened the scope of commercial and military applications. However, the increased dependency on wireless communications exposes UAVs to potential attacks and introduces new threats, especially from UAVs designed with the malicious intent of targeting vital infrastructures. Significant efforts have been made from researchers and other United States (U.S.) Department of Defense (DoD) agencies for developing countermeasures for detection, interception, or destruction of the malicious UAVs. One promising countermeasure is the use of a counter UAV (CUAV) swarm to detect, track, and neutralize the malicious UAV. This paper aims to recognize the state-of-the-art swarm intelligence algorithms for achieving cooperative capture of a mobile target UAV. The major design and implementation challenges for swarm control, algorithm architecture, and safety protocols are considered. A prime challenge for UAV swarms is a robust communication infrastructure to enable accurate data transfer between UAVs for efficient path planning. A multi-agent deep reinforcement learning approach is applied to train a group of CUAVs to intercept a faster malicious UAV, while avoiding collisions among other CUAVs and non-cooperating obstacles (i.e. other aerial objects maneuvering in the area). The impact of the latency incurred through UAV-to-UAV communications is showcased and discussed with preliminary numerical results. 

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3. uavEE: A Modular, Power-Aware Emulation Environment for Rapid Prototyping and Testing of UAV

   M. Theile, O. Dantsker ( January 2018 , Proceedings of IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA))

   State of the art design and testing of avionics for unmanned aircraft is an iterative process that involves many test flights, interleaved with multiple revisions of the flight management software and hardware. To significantly reduce flight test time and software development costs, we have developed a real-time UAV Emulation Environment (uavEE) using ROS that interfaces with high fidelity simulators to simulate the flight behavior of the aircraft. Our uavEE emulates the avionics hardware by interfacing directly with the embedded hardware used in real flight. The modularity of uavEE allows the integration of countless test scenarios and applications. Furthermore, we present an accurate data driven approach for modeling of propulsion power of fixed-wing UAVs, which is integrated into uavEE. Finally, uavEE and the proposed UAV Power Model have been experimentally validated using a fixed-wing UAV testbed. 

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4. Periodic Control of Unmanned Aerial Vehicles Based on Differential Flatness

   https://doi.org/10.1115/1.4043114  

   Ogunbodede, Oladapo ; Nandi, Souransu ; Singh, Tarunraj ( July 2019 , Journal of Dynamic Systems, Measurement, and Control)

   Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by locomotory patterns in birds and marine animals which demonstrate a powered-coasting-powered periodic locomotory behavior, an optimal control problem is formulated to study UAV trajectory planning. The concept of differential flatness is used to reformulate the optimal control problem as a nonlinear programing problem where the flat outputs are parameterized using Fourier series. The Π test is also used to verify the existence of a periodic solution which outperforms the steady-state motion. An example of an Aerosonde UAV is used to illustrate the improvement in endurance and range costs of the periodic control solutions relative to the equilibrium flight. 

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5. JCopter: Reliable UAV Software Through Managed Languages

   https://doi.org/10.1109/IROS51168.2021.9636617  

   Czerniejewski, Adam ; Burns, John Henry ; Ghanei, Farshad ; Dantu, Karthik ; Liu, Yu David ; Ziarek, Lukasz ( September 2021 , 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))

   UAVs are deployed in various applications including disaster search-and-rescue, precision agriculture, law enforcement and first response. As UAV software systems grow more complex, the drawbacks of developing them in low-level languages become more pronounced. For example, the lack of memory safety in C implies poor isolation between the UAV autopilot and other concurrent tasks. As a result, the most crucial aspect of UAV reliability-timely control of the flight-could be adversely impacted by other tasks such as perception or planning. We introduce JCopter, an autopilot framework for UAVs developed in a managed language, i.e., a high-level language with built-in safe memory and timing management. Through detailed simulation as well as flight testing, we demonstrate how JCopter retains the timeliness of C-based autopilots while also providing the reliability of managed languages. 

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