Resilient Path Planning for UAVs Against Oriented-Covert Attacks

This work investigates the oriented-covert attacks and corresponding defense strategies on an unmanned aerial vehicle (UAV) equipped with a GPS sensor and an Ultra-WideBand sensor in single and double base-station scenarios. The attacker drives the UAV away from its nominal path and causes a high-velocity collision while remaining stealthy to base station detection. The attack is formulated as a constrained optimal control problem that trades off terminal deviation and impact velocity, subject t