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Recently, a swarm intelligence-based UAV cluster study, aiming to enable efficient and autonomous collaboration, has drawn lots of interest. However, new security problems may be introduced with such swarm intelligence. In this work, we perform the first detailed security analysis to a kind of flocking-based UAV cluster with 5 policies, an upgrade version of the well-known Boids model. Targeting a realistic threat in a source-to-destination flying task, we design a data spoofing strategy and further perform complete vulnerability analysis. We reveal that such design and implementation are highly vulnerable. After breaking through the authentication of ad hoc on-demand distance vector (AODV) routing protocol by rushing attack, an attacker can masquerade as the first-arrival UAV within a specific scope of destination and generate data spoofing of arrival status to the following UAVs, so as to interfere with their normal flying paths of destination arrival and cause unexpected arrival delays amid urgent tasks. Experiments with detailed analysis from the 5-UAV cluster to the 10-UAV cluster are conducted to show specific feature composition-based attack effect and corresponding average delay. We also discuss promising defense suggestions leveraging the insights from our analysis.<\/jats:p>","DOI":"10.1155\/2020\/8889122","type":"journal-article","created":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T19:23:49Z","timestamp":1607628229000},"page":"1-15","source":"Crossref","is-referenced-by-count":16,"title":["Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6775-3208","authenticated-orcid":true,"given":"Xinyu","family":"Huang","sequence":"first","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0015-7780","authenticated-orcid":true,"given":"Yunzhe","family":"Tian","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0895-4610","authenticated-orcid":true,"given":"Yifei","family":"He","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0348-2108","authenticated-orcid":true,"given":"Endong","family":"Tong","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4706-4266","authenticated-orcid":true,"given":"Wenjia","family":"Niu","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0770-1590","authenticated-orcid":true,"given":"Chenyang","family":"Li","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1147-4327","authenticated-orcid":true,"given":"Jiqiang","family":"Liu","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory of Security and Privacy in Intelligent Transportation, Beijing Jiaotong University, 3 Shangyuan Village, Haidian District, Beijing 100044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7262-4707","authenticated-orcid":true,"given":"Liang","family":"Chang","sequence":"additional","affiliation":[{"name":"Guangxi Key Laboratory of Trusted Software, Guilin University of Electronic Technology, Guilin 541004, China"}]}],"member":"311","reference":[{"key":"1","first-page":"25","article-title":"Flocks, herds and schools: a distributed behavioral model","author":"C. 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