北美CS作业代写 机器人群体

机器人群体的目标是完成复杂的任务，这些任务要么太昂贵、不可行、危险，要么太复杂，单个机器人或人类无法完成。成群的机器人可以是空中的，地面的，也可以是水上的。目前，人们对无人机(UAV)集群来完成复杂的空中任务越来越感兴趣。这些任务的例子包括空间探索、危险环境航行、监测、搜索和救援任务、灾后救济以及农业和环境系统的土地测量。这些应用的范围受到每个无人机的大小、重量和功率(交换)约束的限制。在过去的十年里，无人机群的设计已经有了相当大的技术进步。然而，没有足够的工作来确保成群的无人机之间的通信安全。尽管人们对无人机群体的兴趣日益浓厚，保护它们的通信安全也非常重要，但在这一领域发表的研究论文却很少。一项调查，提供了一个无人机群体通信和安全的概述是非常必要的。本文对无人机群安全问题进行了全面的研究。主题包括通信架构、针对无人机群的攻击、现有的探测和对抗技术、安全挑战和未来的研究方向。本文的其余部分组织如下。第二部分。讨论无人机群通信体系结构。第三部分。概述了针对无人机群的攻击、现有的探测和对抗技术、安全挑战和未来的研究方向。

北美CS作业代写 机器人群体

When designing communication networks for UAV swarms, elements like topology, bandwidth, communication range, and protocol must be carefully taken into consideration to ensure reliable and secure communications. Networks are infrastructure-based, ad-hoc or some combination of both based on the desired topology [3]. In an infrastructure-based swarm network, UAVs do not communicate within the swarm rather they communicate with a ground control station (GCS). UAVs are organized in a star topology. The swarm are dependent on this central authority for coordination. If the communication between the swarm with the GCS is compromised because a cyber-attack or a failure of the GCS, the swarm will fail to operate reliably. Communication range is also limited as all robots need to be in proximity of the GCS. Ad hoc networks do not rely on existing infrastructure or a central authority and individual robots directly communicate with each other independently. Ad-hoc networks utilize a mesh topology which means if one node fails, data can be routed through another path, thereby enhancing robustness. Most research related to UAV swarm communication has been done using one of two communication networks: Flying ad-hoc network (FANET) and Mobile ad-hoc network (MANET) [3]. FANET is a hybrid swarm communication architecture that relies on a lead node to communicate with the GCS and to relay information to the rest of the swarm [4]. In this architecture, UAVs can communicate with each other directly but only the lead node can communicate with the GCS. This only partially solves the problem of distributed decision making in infrastructure-based swarm architectures because severed communication between the GCS and the lead node can still result in swarm failure. Another problem is that the UAV lead has to be in close range of the GCS. Fig. 1 illustrates how communication is done in FANET. MANET is an ad hoc network where UAVs communicate with each other without the need for a central authority [3]. Because it is decentralized, decision making is distributed, as shown in Fig. 2. Compared to FANET, this type of architecture presents some advantages in term of security. Attacking a UAV in this architecture does not significantly impact the overall swarm security.