Directional Expelling for Unmanned Aerial Vehicle Swarm Based on False Deviation Attack

The present paper introduces a method of the directional expelling based on the false deviation attack aiming leaderless unmanned aerial vehicles (UAVs) swarm. First, the influence of false deviation attack on the formation and movement trajectory of UAV swarm is analyzed, where the false deviation attack influences the formation movement and changes the movement trajectory of the swarm. Then, an explicit expression for the center function is determined, which determined the movement trajectory of the UAV swarm after directional expelling. Finally, a numerical simulation result is provided as confirmation of the correctness of the aforementioned analytical findings.