I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Art
if
icia
l In
t
ellig
ence
(
I
J
-
AI
)
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
6
,
p
p
.
972
~
986
I
SS
N:
2
2
5
2
-
8
9
3
8
,
DOI
: 1
0
.
1
1
5
9
1
/ijai.v
15
.i
1
.
p
p
9
7
2
-
9
8
6
972
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
a
i
.
ia
esco
r
e.
co
m
Unma
nned
a
eria
l
v
ehicle sy
stems:
k
ey
ma
na
g
ement and
intrusio
n respo
ns
e t
ech
niques
Reshm
a
C.
So
na
wa
ne
1
,
A.
M
uthuk
rish
na
n
2
1
D
e
p
a
r
t
me
n
t
o
f
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
r
i
n
g
,
V
e
l
T
e
c
h
R
a
n
g
a
r
a
j
a
n
D
r
.
S
a
g
u
n
t
h
a
l
a
R
&D
I
n
st
i
t
u
t
e
o
f
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
C
h
e
n
n
a
i
,
I
n
d
i
a
2
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
o
n
i
c
s a
n
d
C
o
m
mu
n
i
c
a
t
i
o
n
En
g
i
n
e
e
r
i
n
g
,
V
e
l
Te
c
h
R
a
n
g
a
r
a
j
a
n
D
r
.
S
a
g
u
n
t
h
a
l
a
R
&D
I
n
st
i
t
u
t
e
o
f
S
c
i
e
n
c
e
a
n
d
Te
c
h
n
o
l
o
g
y
,
C
h
e
n
n
a
i
,
I
n
d
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
l
27
,
2
0
2
4
R
ev
is
ed
No
v
14
,
2
0
2
5
Acc
ep
ted
Dec
15
,
2
0
2
5
P
ro
tec
ti
n
g
i
n
fo
rm
a
ti
o
n
is
c
ru
c
i
a
l
fo
r
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icl
e
(
UAV
)
n
e
two
rk
c
o
m
m
u
n
ica
ti
o
n
s,
p
a
rti
c
u
larly
d
u
ri
n
g
d
e
li
c
a
te
tas
k
s
su
c
h
a
s
su
rv
e
il
lan
c
e
a
n
d
re
c
o
n
n
a
issa
n
c
e
.
Wh
il
e
e
n
c
r
y
p
ti
o
n
sa
fe
g
u
a
rd
s
d
a
t
a
p
riv
a
c
y
,
m
a
n
a
g
in
g
a
n
d
d
istri
b
u
ti
n
g
k
e
y
s
i
n
UA
V
se
tt
in
g
s p
o
se
s
sig
n
ifi
c
a
n
t
c
h
a
ll
e
n
g
e
s
d
u
e
to
th
e
v
e
h
icle
s'
m
o
b
il
it
y
a
n
d
li
m
it
e
d
p
ro
c
e
ss
in
g
p
o
we
r.
Th
i
s
re
se
a
rc
h
p
ro
p
o
se
s
a
n
e
fficie
n
t
k
e
y
m
a
n
a
g
e
m
e
n
t
sc
h
e
m
e
u
ti
li
z
i
n
g
e
ll
ip
ti
c
c
u
rv
e
c
ry
p
to
g
ra
p
h
y
(ECC)
a
n
d
b
il
i
n
e
a
r
p
a
iri
n
g
s,
c
o
m
p
lem
e
n
ted
b
y
a
li
g
h
twe
ig
h
t
in
tru
si
o
n
d
e
tec
ti
o
n
s
y
ste
m
(IDS)
.
Th
e
m
e
th
o
d
e
m
p
lo
y
s
b
e
h
a
v
io
r
-
b
a
se
d
a
n
o
m
a
ly
d
e
tec
ti
o
n
,
u
sin
g
c
lu
ste
r
-
b
a
se
d
wa
tch
d
o
g
s
a
n
d
tru
st
a
ss
e
ss
m
e
n
t
to
id
e
n
ti
f
y
a
n
d
iso
late
h
a
rm
fu
l
n
o
d
e
s.
Ad
d
it
i
o
n
a
ll
y
,
a
p
p
ly
i
n
g
c
o
m
p
re
ss
io
n
tec
h
n
iq
u
e
s
b
e
f
o
re
e
n
c
r
y
p
ti
o
n
h
e
l
p
s
t
o
re
d
u
c
e
tra
n
sm
issio
n
lo
a
d
.
S
imu
latio
n
in
NS
2
d
e
m
o
n
stra
tes
p
e
rfo
rm
a
n
c
e
imp
ro
v
e
m
e
n
ts
o
f
6
-
1
0
%
i
n
t
h
ro
u
g
h
p
u
t,
4
-
6
%
in
p
a
c
k
e
t
d
e
li
v
e
r
y
ra
ti
o
(
P
DR)
,
a
n
d
a
1
3
-
1
7
%
re
d
u
c
ti
o
n
in
d
e
lay
c
o
m
p
a
re
d
to
e
ll
i
p
ti
c
c
u
r
v
e
c
ry
p
to
g
ra
p
h
y
Diffie
–
He
ll
m
a
n
(
EC
CDH
)
a
n
d
p
a
irwise
e
n
c
ry
p
ti
o
n
m
e
th
o
d
s.
K
ey
w
o
r
d
s
:
E
llip
tic
cu
r
v
e
en
c
r
y
p
tio
n
E
n
er
g
y
co
n
s
u
m
p
tio
n
I
n
tr
u
s
io
n
d
etec
tio
n
s
y
s
tem
Ma
licio
u
s
n
o
d
es
Pair
wis
e
k
ey
g
en
er
atio
n
Secu
r
e
co
m
m
u
n
icatio
n
Un
m
an
n
ed
ae
r
ial
v
eh
icles
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
R
esh
m
a
C
.
So
n
awa
n
e
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
Scie
n
ce
an
d
E
n
g
in
ee
r
in
g
Vel
T
ec
h
R
an
g
ar
ajan
Dr
.
Sag
u
n
th
ala
R
&
D
I
n
s
titu
te
o
f
Scie
n
ce
an
d
T
ec
h
n
o
l
o
g
y
C
h
en
n
ai,
I
n
d
ia
E
m
ail:
r
esh
m
ag
o
ld
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Un
m
an
n
ed
ae
r
ial
v
e
h
icles,
also
k
n
o
wn
as
UAVs,
ar
e
cr
u
cial
f
o
r
m
o
d
e
r
n
ap
p
licatio
n
s
s
u
ch
as
en
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
,
d
is
aster
r
esp
o
n
s
e,
an
d
m
ilit
ar
y
ac
tiv
ities
[
1
]
,
[
2
]
.
No
n
eth
eless
,
th
eir
f
lex
ib
ilit
y
an
d
r
elian
ce
o
n
wir
eless
co
m
m
u
n
icatio
n
ex
p
o
s
e
th
em
to
v
u
l
n
e
r
ab
ilit
ies
s
u
ch
as
d
ata
b
r
ea
c
h
es,
jam
m
in
g
,
an
d
node
-
lev
el
attac
k
s
[
3
]
,
[
4
]
.
A
s
a
r
esu
lt,
en
s
u
r
in
g
s
ec
u
r
e,
ef
f
icien
t,
an
d
s
ca
lab
le
co
m
m
u
n
icatio
n
p
r
o
t
o
co
ls
is
cr
itical
to
th
e
d
ep
e
n
d
ab
ilit
y
a
n
d
r
esil
ien
ce
o
f
UAV
n
etwo
r
k
s
[
5
]
,
[
6
]
.
C
o
n
v
en
tio
n
al
cr
y
p
t
o
g
r
ap
h
y
alg
o
r
ith
m
s
,
wh
ile
ef
f
icien
t,
a
r
e
r
eso
u
r
c
e
-
in
ten
s
iv
e
an
d
u
n
s
u
itab
le
f
o
r
UAVs
with
lim
ited
p
r
o
ce
s
s
o
r
an
d
e
n
er
g
y
ca
p
ab
ilit
ies
[
7
]
,
[
8
]
.
L
ig
h
tweig
h
t
en
c
r
y
p
tio
n
a
p
p
r
o
ac
h
es,
s
u
ch
as
ellip
tic
c
u
r
v
e
cr
y
p
to
g
r
a
p
h
y
(
E
C
C
)
,
s
tr
ik
e
a
b
alan
ce
b
etwe
en
ef
f
icien
cy
a
n
d
s
ec
u
r
ity
[
9
]
,
[
1
0
]
.
No
n
et
h
eless
,
m
er
g
in
g
k
e
y
m
an
a
g
e
m
en
t
an
d
i
n
tr
u
s
io
n
d
etec
tio
n
in
to
a
u
n
if
ied
f
r
am
e
wo
r
k
r
em
ain
s
a
s
u
b
s
tan
tial
d
if
f
icu
lty
,
wh
ich
th
is
s
tu
d
y
ad
d
r
ess
es
b
y
u
tili
zin
g
a
d
u
al
-
lay
er
e
d
s
ec
u
r
ity
a
p
p
r
o
a
ch
.
An
o
th
e
r
ch
allen
g
e
with
UAV
n
etwo
r
k
s
is
d
etec
tin
g
h
ar
m
f
u
l
ac
tio
n
s
.
I
n
tr
u
s
io
n
d
etec
tio
n
s
y
s
tem
s
(
I
DS)
,
s
p
ec
if
ically
W
atch
d
o
g
m
eth
o
d
s
,
h
av
e
b
ee
n
u
s
ed
to
id
en
tify
o
d
d
b
e
h
av
io
r
in
UAV
s
y
s
tem
s
.
No
n
eth
eless
,
th
ese
s
y
s
tem
s
u
s
u
ally
en
co
u
n
ter
d
if
f
icu
lties
wh
e
n
co
n
f
r
o
n
ted
with
s
o
p
h
is
ticated
o
r
co
o
r
d
in
ated
attac
k
s
,
p
ar
ticu
lar
ly
in
h
ig
h
-
m
o
b
ilit
y
s
ce
n
ar
io
s
wh
er
e
U
AVs
r
eg
u
lar
ly
s
h
if
t
p
o
s
itio
n
s
[
1
1
]
,
[
1
2
]
.
T
h
e
m
o
s
t
r
ec
en
t
r
esear
ch
h
as
f
o
cu
s
ed
o
n
I
DS
co
n
ce
p
ts
b
ased
o
n
c
lu
s
ter
in
g
,
in
wh
ich
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Un
ma
n
n
ed
a
eria
l v
eh
icle
s
ystems
:
ke
y
ma
n
a
g
eme
n
t
a
n
d
…
(
R
esh
ma
C
.
S
o
n
a
w
a
n
e)
973
c
lu
s
ter
h
ea
d
s
co
llect
an
d
an
aly
ze
d
ata
to
im
p
r
o
v
e
d
etec
tio
n
ac
cu
r
ac
y
an
d
r
esp
o
n
s
e
tim
es
[
1
3
]
,
[
1
4
]
.
Ho
wev
er
,
th
is
s
tr
ateg
y
in
tr
o
d
u
ce
s
a
p
o
ten
tial
wea
k
n
ess
:
r
ely
in
g
en
tire
l
y
o
n
a
s
in
g
le
clu
s
ter
h
ea
d
m
a
y
r
esu
lt
in
a
s
in
g
le
f
ailu
r
e
p
o
i
n
t,
r
ed
u
cin
g
th
e
n
et
wo
r
k
'
s
r
esil
ien
ce
[
1
5
]
,
[
1
6
]
.
T
o
ad
d
r
ess
th
ese
s
h
o
r
tco
m
in
g
s
,
th
e
I
-
W
atch
d
o
g
s
y
s
tem
was
d
esig
n
ed
,
wh
ich
im
p
r
o
v
es
d
etec
tio
n
p
r
ec
is
io
n
b
y
c
o
m
b
in
in
g
clu
s
te
r
-
b
ased
I
DS
with
ex
tr
a
m
o
n
ito
r
in
g
ca
p
ab
ilit
ies.
T
h
is
in
teg
r
at
ed
s
tr
ateg
y
r
ed
u
ce
s
m
is
tak
e
r
ates
an
d
im
p
r
o
v
es
t
h
e
ef
f
icac
y
o
f
in
tr
u
s
io
n
d
etec
tio
n
[
1
7
]
,
[
1
8
]
.
No
n
eth
eless
,
a
m
o
r
e
c
o
m
p
r
e
h
en
s
iv
e
s
y
s
tem
is
r
eq
u
ir
ed
to
in
te
g
r
at
e
k
ey
m
an
ag
e
m
en
t
a
n
d
b
r
ea
c
h
d
etec
tio
n
in
to
a
u
n
if
ied
f
r
a
m
ewo
r
k
,
wh
ich
h
as
b
ee
n
m
is
s
ed
in
p
r
ev
io
u
s
r
esear
ch
.
T
h
e
cu
r
r
en
t
s
tu
d
y
f
o
c
u
s
es
o
n
eith
er
p
r
im
ar
y
m
a
n
ag
em
en
t
o
r
i
n
d
ep
e
n
d
en
t
v
io
latio
n
d
etec
tio
n
,
r
esu
ltin
g
in
tr
a
d
e
-
o
f
f
s
b
etwe
en
s
ec
u
r
ity
an
d
o
p
e
r
atio
n
al
e
f
f
icien
c
y
[
1
9
]
,
[
2
0
]
.
T
h
is
r
esear
ch
ad
d
r
ess
es
an
ex
is
tin
g
g
a
p
b
y
in
tr
o
d
u
ci
n
g
a
d
u
al
-
lay
er
ed
s
ec
u
r
ity
f
r
am
ew
o
r
k
th
at
co
m
b
in
es
lig
h
tweig
h
t
k
ey
m
a
n
ag
em
en
t
with
in
tr
u
s
io
n
d
etec
tio
n
.
W
h
il
e
m
an
y
ea
r
lier
s
tu
d
ies
h
av
e
t
ac
k
led
th
ese
is
s
u
es
s
ep
ar
ately
,
r
esu
ltin
g
in
p
ar
ti
al
s
o
lu
tio
n
s
,
th
is
n
ew
m
o
d
el
in
teg
r
ates
b
o
th
asp
ec
ts
u
s
i
n
g
b
ilin
ea
r
p
air
in
g
cr
y
p
to
g
r
ap
h
y
u
s
in
g
ellip
tic
cu
r
v
es,
d
esig
n
ed
f
o
r
lo
w
-
p
o
w
er
UAV
s
et
tin
g
s
an
d
b
eh
av
i
o
r
-
b
ased
d
etec
tio
n
with
in
clu
s
ter
ed
UAV
s
ce
n
ar
i
o
s
.
T
h
is
u
n
i
f
ied
a
p
p
r
o
ac
h
is
c
r
u
cial
f
o
r
ap
p
licatio
n
s
th
at
ar
e
r
eso
u
r
ce
-
lim
ited
,
m
o
b
ile,
an
d
s
en
s
itiv
e
to
d
ela
y
s
[
2
1
]
,
[
2
2
]
.
A
d
d
itio
n
ally
,
th
is
s
tu
d
y
b
u
ild
s
o
n
p
r
e
v
io
u
s
d
ev
elo
p
m
en
ts
in
k
e
y
s
etu
p
s
y
s
tem
s
,
wh
ich
u
s
e
a
m
u
lti
-
s
tep
ap
p
r
o
ac
h
f
o
r
s
af
eg
u
a
r
d
in
g
UAV
co
m
m
u
n
icatio
n
s
.
E
ac
h
UAV
n
o
d
e
is
ass
ig
n
ed
an
i
d
en
tific
atio
n
n
u
m
b
er
an
d
p
r
e
-
d
is
tr
ib
u
ted
d
ig
itally
s
ig
n
ed
k
e
y
s
,
allo
win
g
f
o
r
m
u
tu
al
au
th
o
r
izatio
n
th
r
o
u
g
h
s
af
e
p
r
iv
ate
k
ey
a
g
r
ee
m
en
ts
.
R
eg
u
lar
k
e
y
r
e
f
r
esh
es
im
p
r
o
v
e
s
ec
u
r
ity
o
v
er
tim
e
b
y
ad
d
r
ess
in
g
p
o
ten
tial
wea
k
n
ess
es
[
2
3
]
,
[
2
4
]
.
Ho
wev
er
,
t
h
e
tech
n
iq
u
e
c
o
n
f
r
o
n
ts
d
if
f
icu
lties
s
u
ch
as
th
e
d
if
f
icu
lty
o
f
ea
r
ly
d
is
tr
ib
u
tio
n
o
f
k
ey
s
an
d
s
ig
n
if
ican
t
co
m
p
u
tin
g
co
s
ts
,
esp
ec
ially
in
f
lex
ib
le
o
r
ad
h
o
c
UAV
s
y
s
tem
s
.
L
ik
ewise,
s
to
ch
asti
c
k
ey
p
r
e
-
d
is
tr
ib
u
tio
n
s
tr
ateg
ies
im
p
r
o
v
e
s
ca
lab
ilit
y
an
d
r
o
b
u
s
tn
ess
f
o
r
n
o
d
e
ca
p
tu
r
e;
n
e
v
er
th
eless
,
th
ey
b
r
in
g
d
if
f
icu
lties
lik
e
k
ey
m
is
m
atch
an
d
co
m
m
u
n
i
ca
tio
n
co
s
t
d
u
r
in
g
th
e
c
r
u
ci
al
d
is
co
v
er
y
p
h
ase
[
2
5
]
,
[
2
6
]
.
Alth
o
u
g
h
s
ev
er
al
wr
iter
s
o
f
f
er
ed
in
teg
r
ated
s
y
s
tem
s
,
th
er
e
is
s
till
a
d
em
an
d
f
o
r
a
m
o
r
e
c
o
m
p
lete
ap
p
r
o
ac
h
[
2
7
]
,
[
2
8
]
.
T
h
ese
is
s
u
es
ar
e
a
d
d
r
ess
ed
b
y
a
n
o
v
el
k
ey
ad
m
i
n
is
tr
atio
n
s
tr
ateg
y
f
o
r
UAVs,
wh
ich
m
ay
in
cr
ea
s
e
co
m
p
u
tin
g
co
m
p
lex
ity
.
I
n
o
r
d
er
to
im
p
r
o
v
e
th
e
d
ep
en
d
a
b
ilit
y
an
d
f
lex
ib
ili
ty
o
f
UAV
ae
r
ial
co
m
m
u
n
icatio
n
n
etwo
r
k
s
,
r
ec
en
t
r
esear
ch
h
as
id
en
tifie
d
s
af
e
an
d
p
o
r
ta
b
le
k
ey
m
an
a
g
em
en
t
tech
n
iq
u
es
th
at
f
r
eq
u
e
n
tly
m
ak
e
u
s
e
o
f
b
l
o
ck
ch
ain
-
s
u
p
p
o
r
ted
s
y
s
tem
s
[
2
9
]
.
Fu
r
th
e
r
m
o
r
e
,
ad
v
an
c
em
en
ts
in
ar
tific
ial
in
tellig
en
ce
-
p
o
wer
e
d
k
ey
m
an
ag
em
en
t a
lg
o
r
ith
m
s
s
u
g
g
est th
at
p
r
o
ce
s
s
in
g
co
s
ts
co
u
ld
b
e
d
ec
r
ea
s
ed
wh
ile
s
til
l
m
ee
tin
g
s
tr
in
g
en
t saf
ety
s
tan
d
ar
d
s
f
o
r
UAV
co
m
m
u
n
icatio
n
n
etwo
r
k
s
[
3
0
]
,
[
3
1
]
.
T
h
is
s
tu
d
y
b
r
in
g
s
th
r
ee
im
p
o
r
tan
t
co
n
tr
ib
u
tio
n
s
:
i
)
a
m
o
r
e
ef
f
ec
tiv
e
p
air
wis
e
k
e
y
a
d
m
i
n
is
tr
atio
n
p
r
o
to
co
l
f
o
r
UAV
n
etwo
r
k
s
,
ii
)
a
m
o
d
if
ied
I
-
W
atch
d
o
g
d
etec
tio
n
an
d
p
r
ev
en
tio
n
m
o
d
el
b
ased
o
n
UAV
co
llectio
n
s
,
an
d
iii
)
v
er
if
ied
i
m
p
r
o
v
e
m
en
ts
in
p
er
f
o
r
m
an
ce
v
ia
NS
-
all
-
in
-
o
n
e
2
.
3
5
(
NS2
)
m
o
d
elin
g
,
s
h
o
win
g
d
im
in
is
h
ed
d
ela
y
,
u
p
g
r
ad
ed
d
eliv
er
y
o
f
p
ac
k
ets
r
atio
s
,
a
n
d
less
er
u
s
ag
e
o
f
e
n
er
g
y
in
U
AV
in
ter
ac
tio
n
f
o
r
ch
an
g
in
g
s
ec
u
r
ity
-
cr
itical
u
s
ag
es.
T
h
e
f
o
llo
win
g
p
o
r
tio
n
s
o
f
th
is
wo
r
k
ar
e
g
r
o
u
p
ed
as
f
o
llo
ws:
s
ec
tio
n
2
d
is
cu
s
s
es
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
,
in
clu
d
in
g
t
h
e
in
ter
ac
tio
n
an
d
attac
k
in
g
m
o
d
els,
as
wel
l
as
th
e
alg
o
r
ith
m
ic
s
k
etch
.
T
h
e
s
ec
tio
n
3
p
r
o
v
id
e
s
a
co
m
p
a
r
ativ
e
ev
al
u
atio
n
o
f
p
r
o
jecte
d
r
esear
ch
a
n
d
r
ec
en
t
d
ev
elo
p
m
e
n
ts
.
T
h
e
s
ec
tio
n
4
co
m
p
r
is
es th
e
wo
r
k
'
s
r
esu
lts
an
d
d
is
cu
s
s
io
n
,
f
o
llo
w
ed
b
y
a
co
n
s
tr
u
ctiv
e
c
o
n
clu
s
io
n
in
th
e
s
ec
tio
n
5
.
2.
M
E
T
H
O
D
T
h
is
r
esear
ch
aim
s
to
en
h
an
c
e
th
e
s
ec
u
r
ity
an
d
en
e
r
g
y
ef
f
i
cien
cy
o
f
ad
h
o
c
UAV
n
etwo
r
k
s
,
wh
ich
ty
p
ically
em
p
lo
y
I
E
E
E
8
0
2
.
1
1
an
d
8
0
2
.
1
5
.
4
s
tan
d
ar
d
s
.
T
r
a
n
s
p
o
r
t
lay
er
s
ec
u
r
ity
(
TLS
)
a
n
d
in
ter
n
et
p
r
o
to
co
l
s
ec
u
r
ity
(
I
Ps
ec
)
ar
e
s
o
p
h
is
ticated
p
r
o
to
co
ls
,
b
u
t
th
ey
ar
e
to
o
d
em
an
d
i
n
g
f
o
r
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
UAV
s
y
s
tem
s
.
T
h
u
s
,
th
is
p
ar
t p
r
o
v
id
es th
e
f
r
am
ewo
r
k
o
f
th
e
s
y
s
tem
'
s
ar
ch
itectu
r
e
(
p
r
o
p
o
s
ed
s
y
s
tem
an
d
co
n
ce
p
t
u
al
p
er
s
p
ec
tiv
e)
,
i
n
clu
d
in
g
m
o
d
el
d
etails
f
o
r
en
cr
y
p
tio
n
an
d
att
ac
k
d
etec
tio
n
.
Ou
r
s
tr
ateg
y
c
o
m
b
in
es
a
d
y
n
am
ic
k
ey
m
a
n
ag
em
en
t
p
r
o
to
co
l
b
ased
o
n
ellip
tic
cu
r
v
e
p
ai
r
in
g
w
ith
a
s
m
ar
t
watc
h
d
o
g
s
y
s
tem
to
d
etec
t
m
alicio
u
s
UAV
n
o
d
es
v
ia
tr
u
s
t
s
co
r
in
g
an
d
p
ac
k
et
f
o
r
war
d
in
g
an
aly
s
is
u
s
in
g
th
e
I
-
W
atch
d
o
g
m
ec
h
an
is
m
.
T
h
e
s
y
s
tem
h
as
th
r
ee
s
tag
es:
in
itia
l
en
cr
y
p
tio
n
at
th
e
s
o
u
r
ce
,
in
tr
u
s
io
n
d
e
tectio
n
u
s
in
g
th
e
watc
h
d
o
g
,
a
n
d
en
er
g
y
-
ef
f
icie
n
t
co
m
m
u
n
icatio
n
.
E
ac
h
lev
el
is
d
esig
n
ed
to
im
p
r
o
v
e
s
ec
u
r
ity
an
d
n
etwo
r
k
p
e
r
f
o
r
m
a
n
ce
wh
ile
k
ee
p
i
n
g
co
m
p
u
tatio
n
al
n
ee
d
s
m
in
im
al.
T
o
aid
in
e
x
ec
u
tio
n
,
th
ese
co
m
p
o
n
en
ts
ar
e
ex
p
lain
ed
u
s
in
g
s
tr
atif
ied
alg
o
r
ith
m
s
an
d
v
is
u
al
r
ep
r
esen
tatio
n
v
ia
ar
ch
itectu
r
al
m
o
d
els
.
2
.
1
.
P
r
o
po
s
ed
s
y
s
t
em
Her
e,
we
in
tr
o
d
u
ce
an
en
cr
y
p
tio
n
m
eth
o
d
th
at
u
tili
ze
s
a
d
u
al
k
ey
cr
ea
tio
n
s
y
s
tem
to
p
r
o
tect
UAV
co
m
m
u
n
icatio
n
s
.
E
v
er
y
n
etwo
r
k
n
o
d
e
r
ec
eiv
es
a
d
is
tin
ct
id
en
tific
atio
n
co
d
e
(
I
D)
,
in
c
o
r
p
o
r
atin
g
b
o
th
MA
C
an
d
I
P
a
d
d
r
ess
es,
wh
ich
s
er
v
e
as
cr
u
cial
elem
en
ts
in
th
e
e
n
c
r
y
p
tio
n
p
r
o
ce
d
u
r
e.
T
h
e
s
u
g
g
es
ted
m
eth
o
d
cr
ea
tes
p
air
ed
k
ey
s
,
en
a
b
lin
g
t
h
e
s
o
u
r
ce
n
o
d
e
to
c
h
o
o
s
e
t
h
e
f
o
llo
win
g
h
o
p
n
o
d
e
an
d
estab
lis
h
s
ec
u
r
e
co
m
m
u
n
icatio
n
.
T
h
is
f
r
am
ewo
r
k
im
p
lem
en
ts
a
co
m
b
in
e
d
en
cr
y
p
tio
n
ap
p
r
o
ac
h
wh
er
e
E
C
C
m
an
ag
es
s
ec
u
r
e
k
ey
n
eg
o
tiatio
n
,
wh
ile
s
y
m
m
etr
ic
en
cr
y
p
tio
n
⎯
s
u
ch
as
ad
v
an
ce
d
en
c
r
y
p
ti
o
n
s
tan
d
ar
d
(
AE
S)
⎯
p
r
o
ce
s
s
es
th
e
p
r
im
ar
y
d
ata
en
cr
y
p
tio
n
.
T
h
is
b
len
d
s
u
cc
es
s
f
u
lly
m
ain
tain
s
eq
u
ilib
r
iu
m
b
etwe
en
th
e
p
r
o
ce
s
s
in
g
ef
f
icien
cy
o
f
s
y
m
m
etr
ic
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
972
-
9
8
6
974
alg
o
r
ith
m
s
an
d
th
e
s
tr
o
n
g
k
ey
ex
ch
a
n
g
e
ca
p
ab
ilit
ies
o
f
asy
m
m
etr
ic
tech
n
iq
u
es.
W
h
en
n
etwo
r
k
ca
p
ac
ity
ex
p
an
d
s
,
o
b
s
tacle
s
lik
e
k
ey
s
y
n
ch
r
o
n
izatio
n
,
co
m
p
lex
ity
co
n
tr
o
l,
an
d
d
ela
y
s
ca
u
s
ed
b
y
p
ac
k
et
lo
s
s
m
ay
af
f
ec
t
s
ec
u
r
e
d
ata
tr
an
s
m
is
s
io
n
.
T
o
ad
d
r
ess
th
ese
is
s
u
es,
r
ed
u
n
d
an
cy
v
e
r
if
icatio
n
is
im
p
lem
en
ted
to
m
ain
tain
s
y
n
ch
r
o
n
izatio
n
.
E
n
h
an
ce
d
e
n
cr
y
p
tio
n
m
eth
o
d
s
ar
e
also
u
s
e
d
to
m
in
im
ize
p
r
o
ce
s
s
in
g
tim
es
an
d
p
e
r
f
o
r
m
an
ce
r
estrictio
n
s
.
T
h
e
en
cr
y
p
tio
n
-
d
r
iv
en
co
m
m
u
n
icatio
n
f
r
am
ew
o
r
k
is
d
ep
icted
in
Fig
u
r
e
1
.
I
n
th
is
p
ar
ad
ig
m
,
th
e
s
o
u
r
ce
n
o
d
e
‘
S
N
’
ch
o
o
s
es th
e
d
esti
n
atio
n
n
o
d
e
.
T
h
e
e
n
cr
y
p
tio
n
p
r
o
ce
s
s
is
s
p
ec
if
ied
b
y
(
1
)
.
←
(
,
(
)
)
,
(
1
)
E
n
s
u
r
in
g
th
at
o
n
ly
t
h
e
d
esti
n
at
io
n
n
o
d
e
with
th
e
c
o
r
r
ec
t I
D
c
an
d
ec
r
y
p
t th
e
m
ess
ag
e
u
s
in
g
(
2
)
.
←
(
,
(
)
)
(
2
)
T
h
is
tech
n
iq
u
e
p
r
o
h
ib
its
u
n
ap
p
r
o
v
ed
n
o
d
es
f
r
o
m
o
b
tai
n
in
g
d
ata,
h
e
n
ce
m
ain
tain
i
n
g
s
ec
r
ec
y
.
Ma
in
tain
in
g
s
tab
le
n
o
d
e
I
Ds
an
d
u
p
g
r
ad
in
g
th
e
k
e
y
en
cr
y
p
tio
n
in
v
ar
iab
le
UAV
s
ce
n
ar
io
s
with
ch
an
g
in
g
o
r
m
o
m
en
tar
ily
u
n
a
v
ailab
le
n
o
d
e
s
was
a
s
ig
n
if
ican
t
p
r
o
b
lem
.
T
o
s
o
lv
e
t
h
is
,
we
d
e
v
elo
p
ed
an
af
f
o
r
d
a
b
le
id
e
n
tity
v
er
if
icatio
n
tech
n
iq
u
e
th
at
s
u
c
ce
s
s
f
u
lly
p
r
o
tects
n
o
d
e
r
e
p
u
tat
io
n
in
teg
r
ity
an
d
im
p
r
o
v
es
s
y
s
tem
s
ec
u
r
ity
u
n
d
er
d
y
n
am
ic
s
ettin
g
s
.
Fig
u
r
e
1
d
e
m
o
n
s
tr
ates
h
o
w
co
m
p
r
ess
io
n
i
s
p
er
f
o
r
m
e
d
b
e
f
o
r
e
e
n
cr
y
p
tio
n
to
r
ed
u
ce
p
ay
l
o
ad
s
ize
an
d
cu
t d
o
wn
o
n
tr
an
s
m
is
s
io
n
d
elay
s
b
y
g
en
e
r
atin
g
u
n
iq
u
e
p
air
wis
e
k
ey
s
f
o
r
co
m
m
u
n
i
ca
tio
n
b
etwe
en
th
e
s
o
u
r
ce
an
d
d
esti
n
atio
n
UAV
n
o
d
es,
u
tili
zin
g
n
o
d
e
I
Ds to
e
n
s
u
r
e
th
e
s
af
ety
o
f
th
e
e
x
ch
an
g
e
s
.
2
.
2
.
At
t
a
c
k
identif
ica
t
io
n mo
del
T
h
e
attac
k
d
etec
tio
n
m
o
d
el
id
en
tifie
s
r
o
g
u
e
s
ites
in
a
n
etwo
r
k
v
ia
a
watc
h
d
o
g
s
y
s
tem
eq
u
i
p
p
ed
with
UAV
b
r
o
ad
ca
s
t
ca
p
ab
ilit
ies.
Fig
u
r
e
2
illu
s
tr
ates
th
e
en
h
a
n
ce
d
I
-
W
atch
d
o
g
m
o
d
el.
I
n
th
is
s
etu
p
,
clu
s
ter
lead
er
s
o
v
er
s
ee
d
ata
tr
an
s
m
is
s
io
n
s
an
d
d
etec
t
h
ar
m
f
u
l
n
o
d
es
b
y
id
e
n
tify
in
g
b
eh
a
v
io
r
al
an
o
m
alies
th
r
o
u
g
h
r
ep
o
r
ts
f
r
o
m
UAV
co
lleag
u
es.
Fig
u
r
e
1
.
Secu
r
e
d
ata
tr
an
s
m
is
s
io
n
m
o
d
el
b
etwe
en
s
o
u
r
ce
an
d
d
esti
n
atio
n
UAV
n
o
d
es
Fig
u
r
e
2
.
Pro
p
o
s
ed
s
y
s
tem
m
o
d
el
f
o
r
d
etec
tin
g
m
alicio
u
s
n
o
d
es in
UAV
2
.
3
.
Secure
hy
brid encr
y
ptio
n a
nd
intr
us
io
n det
ec
t
io
n a
l
g
o
rit
hm
f
o
r
UAV
co
mm
un
ica
t
io
ns
2
.
3
.
1
.
Co
ncept
ua
l
f
ra
m
ewo
r
k
As
p
er
th
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
,
ad
ap
tiv
e
m
o
n
ito
r
in
g
p
atter
n
s
an
d
f
lex
ib
le
p
ac
k
et
r
o
u
tin
g
m
ec
h
an
is
m
s
ar
e
u
s
ed
in
UAV
n
etwo
r
k
s
r
eg
ar
d
in
g
p
r
ec
is
io
n
,
s
ec
u
r
ity
,
an
d
a
d
ap
tab
ilit
y
.
T
h
is
ap
p
r
o
ac
h
r
ed
u
ce
s
f
alse
aler
ts
an
d
wr
o
n
g
n
o
d
e
cl
ass
if
icatio
n
s
ig
n
if
ican
tly
.
B
asi
ca
lly
,
th
e
I
-
W
atch
d
o
g
s
y
s
tem
u
s
es
clu
s
ter
h
ea
d
s
as
th
e
m
ain
m
o
n
ito
r
in
g
p
o
in
t
s
th
at
d
etec
t
p
r
o
b
lem
s
an
d
is
o
late
b
ad
n
o
d
es.
I
t'
s
th
e
s
am
e
as
h
av
in
g
s
m
ar
t
g
u
ar
d
s
th
at
watc
h
f
o
r
s
u
s
p
i
cio
u
s
ac
tiv
ity
an
d
b
lo
ck
h
ar
m
f
u
l
elem
en
ts
.
UAV
n
etwo
r
k
s
h
av
e
ch
an
g
i
n
g
s
tr
u
ctu
r
es
wh
er
e
n
o
d
es
k
ee
p
j
o
in
in
g
an
d
leav
in
g
cl
u
s
ter
s
,
wh
ich
s
u
r
ely
m
ak
es
it
d
if
f
icu
lt
to
m
ain
tain
s
tab
le
clu
s
ter
lead
er
s
h
ip
.
Mo
r
eo
v
er
,
th
is
d
y
n
am
ic
n
atu
r
e
cr
ea
tes
m
ajo
r
ch
allen
g
es
in
en
s
u
r
in
g
r
eliab
le
n
etwo
r
k
m
an
ag
em
en
t.
T
o
s
o
lv
e
th
is
p
r
o
b
lem
,
f
le
x
ib
le
r
e
-
clu
s
ter
in
g
m
eth
o
d
s
ar
e
u
s
ed
to
ch
an
g
e
lead
er
s
h
ip
r
o
les
au
to
m
atica
lly
,
wh
ich
,
to
a
g
r
e
ater
ex
ten
t,
p
r
o
v
i
d
es
th
e
n
etwo
r
k
its
elf
r
em
ain
s
s
tab
le
with
less
m
an
u
al
wo
r
k
.
T
h
is
f
lex
ib
ilit
y
ac
t
u
ally
s
u
p
p
o
r
ts
s
af
e
co
m
m
u
n
icatio
n
a
n
d
tr
u
s
t
-
b
ased
d
ea
ls
ac
r
o
s
s
all
UAV
n
o
d
es.
T
h
e
f
r
am
ewo
r
k
d
ef
i
n
itely
u
s
es
a
t
wo
-
lev
el
s
y
s
tem
th
at
c
o
m
b
in
e
s
s
ec
u
r
e
d
ata
s
en
d
in
g
,
r
ea
l
-
tim
e
th
r
ea
t
f
i
n
d
in
g
,
an
d
en
er
g
y
s
av
i
n
g
to
m
ak
e
UAV
n
etwo
r
k
s
s
tr
o
n
g
er
.
2
.
3
.
2
.
Alg
o
rit
hm
T
h
i
s
s
e
c
t
i
o
n
o
u
t
li
n
e
s
t
h
e
t
e
c
h
n
iq
u
e
s
u
s
e
d
i
n
t
h
e
p
r
o
p
o
s
e
d
s
a
f
e
h
y
b
r
i
d
e
n
c
r
y
p
t
i
o
n
a
n
d
I
D
S
.
A
lg
o
r
i
t
h
m
1
f
o
cu
s
es
o
n
h
y
b
r
i
d
en
cr
y
p
tio
n
an
d
e
n
er
g
y
-
ef
f
icie
n
t
co
m
m
u
n
icatio
n
,
ass
ig
n
in
g
ea
ch
UAV
n
o
d
e
a
u
n
iq
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Un
ma
n
n
ed
a
eria
l v
eh
icle
s
ystems
:
ke
y
ma
n
a
g
eme
n
t
a
n
d
…
(
R
esh
ma
C
.
S
o
n
a
w
a
n
e)
975
id
en
tific
atio
n
an
d
g
e
n
er
atin
g
lig
h
tweig
h
t
k
ey
p
air
s
with
E
C
C
to
en
ab
le
s
af
e
d
ata
t
r
an
s
f
er
.
T
h
e
em
b
e
d
d
ed
watc
h
d
o
g
m
ec
h
an
is
m
m
o
n
ito
r
s
all
n
o
d
es
f
o
r
h
ar
m
f
u
l
ac
tiv
ities
.
Alg
o
r
ith
m
2
b
u
ild
s
o
n
th
is
f
o
u
n
d
atio
n
b
y
in
teg
r
atin
g
k
ey
m
an
a
g
em
en
t
an
d
im
p
r
o
v
ed
watc
h
d
o
g
d
etec
tio
n
.
I
t
ass
ess
es
in
ter
m
ed
iate
n
o
d
es
in
clu
s
ter
ed
UAV
n
etwo
r
k
s
u
s
in
g
a
tr
u
s
t
-
b
ased
tech
n
iq
u
e,
allo
win
g
f
o
r
d
ep
en
d
ab
le
n
etwo
r
k
o
p
er
atio
n
s
.
C
lu
s
ter
ch
ief
s
ar
e
co
n
s
tan
tly
u
p
d
atin
g
tr
u
s
t
s
co
r
es
to
en
s
u
r
e
s
af
e
co
m
m
u
n
ica
tio
n
an
d
b
alan
ce
en
e
r
g
y
u
s
ag
e.
T
o
g
eth
er
,
th
ese
alg
o
r
ith
m
s
cr
ea
te
a
lig
h
tweig
h
t
s
ec
u
r
ity
ar
ch
itectu
r
e
th
at
i
m
p
r
o
v
es
d
ata
i
n
teg
r
ity
,
d
ep
en
d
ab
ilit
y
,
an
d
en
er
g
y
ec
o
n
o
m
y
.
E
llip
tic
cu
r
v
e
c
r
y
p
to
g
r
ap
h
y
Dif
f
ie
–
Hellm
an
(
E
C
C
D
H)
is
u
s
ed
f
o
r
s
af
e
p
air
wis
e
k
ey
cr
ea
tio
n
,
wh
er
ea
s
b
ilin
ea
r
p
air
in
g
s
p
r
o
v
id
e
g
r
o
u
p
k
e
y
s
f
o
r
tr
u
s
two
r
th
y
n
o
d
es
in
ea
ch
clu
s
ter
,
allo
win
g
f
o
r
s
ca
lab
le
an
d
s
ec
u
r
e
o
p
er
atio
n
s
.
T
h
e
A
l
g
o
r
i
t
h
m
1
s
ec
u
r
ely
tr
an
s
f
er
s
m
es
s
ag
es
ac
r
o
s
s
UAV
n
o
d
es
wh
ile
u
s
in
g
v
er
y
litt
le
en
er
g
y
.
T
h
e
n
ex
t a
lg
o
r
ith
m
co
m
b
in
es E
C
C
-
b
ased
k
ey
g
e
n
er
atio
n
an
d
tr
u
s
t
-
b
ased
an
o
m
aly
d
etec
tio
n
.
Alg
o
r
ith
m
1
.
Hy
b
r
id
en
cr
y
p
tio
n
with
E
C
C
an
d
en
er
g
y
-
ef
f
icie
n
t c
o
m
m
u
n
icatio
n
I
n
p
u
t: So
u
r
ce
n
o
d
e
(
S),
Destin
atio
n
n
o
d
e
(
D)
,
Me
s
s
ag
e
(
m
s
g
)
Ou
tp
u
t: E
n
cr
y
p
ted
m
ess
ag
e
(
M)
,
Dec
r
y
p
ted
m
ess
ag
e
(
m
s
g
)
Ph
ase
1
: Setu
p
1
.
Giv
e
ev
er
y
UAV
n
o
d
e
a
d
is
tin
ct
id
en
tifie
r
(
I
D)
,
lik
e
an
I
P o
r
MA
C
ad
d
r
ess
.
2
.
C
h
o
o
s
e
s
o
u
r
ce
n
o
d
e
S a
n
d
d
esti
n
atio
n
n
o
d
e
D.
Ph
ase
2
: M
ess
ag
e
en
cr
y
p
tio
n
at
s
o
u
r
ce
3
.
C
r
ea
te
a
p
air
wis
e
k
ey
K
u
tili
zin
g
th
e
d
esti
n
atio
n
n
o
d
e'
s
id
en
tity
(
I
D_
D)
.
4
.
E
n
co
d
e
th
e
m
ess
ag
e
m
s
g
wi
th
th
e
cr
ea
ted
k
ey
K:
M
←
E
n
cr
y
p
t (
m
s
g
,
K)
.
5
.
Sen
d
th
e
en
co
d
ed
m
ess
ag
e
M
f
r
o
m
S to
D.
Ph
ase
3
: M
ess
ag
e
d
ec
r
y
p
tio
n
at
d
esti
n
atio
n
6
.
Destin
atio
n
n
o
d
e
D
o
b
tain
s
th
e
en
co
d
e
d
m
ess
ag
e
M.
7
.
Dec
o
d
e
M
with
k
ey
K:
m
s
g
←
Dec
r
y
p
t(
M,
K)
.
8
.
E
x
tr
ac
t th
e
o
r
ig
in
al
m
ess
ag
e
m
s
g
.
Ph
ase
4
: T
h
r
ea
t
d
etec
tio
n
(
I
-
W
atch
d
o
g
)
9
.
No
d
e
A
tr
a
n
s
m
its
d
ata
to
n
o
d
e
C
th
r
o
u
g
h
n
o
d
e
B
.
1
0
.
No
d
e
A
o
b
s
er
v
es wh
et
h
er
B
r
elay
s
th
e
p
ac
k
et
to
C
.
1
1
.
I
f
B
r
elay
s
p
r
o
p
er
ly
→
lab
el
as tr
u
s
two
r
th
y
.
1
2
.
Oth
er
wis
e
→
lab
el
as m
alicio
u
s
an
d
aler
t c
lu
s
ter
h
ea
d
.
1
3
.
C
lu
s
ter
h
ea
d
r
em
o
v
es f
la
g
g
ed
n
o
d
es f
r
o
m
th
e
n
etwo
r
k
.
Ph
ase
5
: E
n
er
g
y
m
an
ag
e
m
en
t
1
4
.
C
o
m
m
u
n
icatio
n
g
ets r
e
d
ir
ec
ted
th
r
o
u
g
h
lo
w
-
en
er
g
y
-
co
s
t
r
o
u
tes id
en
tifie
d
u
s
in
g
r
em
ai
n
in
g
en
er
g
y
tab
les.
1
5
.
R
ep
ea
t step
s
3
–
1
4
r
eg
u
lar
l
y
to
p
r
eser
v
e
s
ec
u
r
ity
an
d
en
e
r
g
y
b
alan
ce
Alg
o
r
ith
m
2
.
T
r
u
s
t
-
b
ased
watc
h
d
o
g
d
etec
tio
n
with
e
n
h
an
ce
d
k
ey
m
an
a
g
em
en
t
I
n
p
u
t: So
u
r
ce
n
o
d
e
(
S),
Destin
atio
n
n
o
d
e
(
D)
,
Me
s
s
ag
e
(
m
s
g
)
,
C
lu
s
ter
h
ea
d
(
C
H)
Ou
tp
u
t: Pr
o
tecte
d
co
m
m
u
n
icat
io
n
,
m
alicio
u
s
n
o
d
e
r
e
m
o
v
al
E
n
cr
y
p
tio
n
an
d
t
r
an
s
m
is
s
io
n
1
6
.
Set u
p
S a
n
d
D
with
d
is
tin
ct
I
Ds.
1
7
.
C
r
ea
te
a
p
air
wis
e
k
ey
K
u
t
ilizin
g
I
D_
D.
1
8
.
E
n
c
o
d
e
d
ata:
M
←
E
n
cr
y
p
t(
m
s
g
,
K)
.
1
9
.
T
r
a
n
s
f
er
M
f
r
o
m
S →
D.
Dec
r
y
p
tio
n
2
0
.
Destin
atio
n
n
o
d
e
D
o
b
tain
s
M.
2
1
.
Dec
o
d
e:
m
s
g
←
Dec
r
y
p
t(
M,
K)
.
2
2
.
Deliv
er
th
e
d
ec
o
d
ed
m
ess
ag
e.
E
n
h
an
ce
d
watc
h
d
o
g
d
etec
tio
n
2
3
.
No
d
e
A
tr
an
s
m
its
d
ata
to
n
o
d
e
B
m
ea
n
t f
o
r
n
o
d
e
C
.
2
4
.
No
d
e
A
m
o
n
ito
r
s
B
's r
elay
in
g
b
eh
a
v
io
r
.
2
5
.
I
f
B
r
elay
s
→
lab
el
B
as r
eliab
le.
2
6
.
Oth
er
wis
e
→
lab
el
B
as q
u
esti
o
n
ab
le.
2
7
.
C
lu
s
ter
h
ea
d
ass
ess
es o
v
er
all
tr
u
s
t r
atin
g
s
.
2
8
.
I
f
tr
u
s
t r
atin
g
<
lim
it →
r
em
o
v
e
th
e
n
o
d
e
.
2
9
.
Sh
ar
e
t
h
e
u
p
d
ated
clu
s
ter
t
ab
le
to
p
r
eser
v
e
r
o
u
tin
g
r
eliab
i
lity
2
.
4
.
Sim
ula
t
i
o
n
a
nd
ex
periment
a
l set
up
T
h
e
s
im
u
latio
n
s
u
s
in
g
a
n
et
wo
r
k
s
im
u
lato
r
2
(
NS2
,
v
er
2
.
3
5
)
o
n
a
L
in
u
x
p
latf
o
r
m
s
h
o
wed
t
h
e
ef
f
icac
y
o
f
th
e
p
r
o
p
o
s
ed
s
af
e
h
y
b
r
id
e
n
cr
y
p
tio
n
as
well
as
in
tr
u
s
io
n
d
etec
tio
n
s
o
lu
tio
n
.
T
h
e
s
im
u
latio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
972
-
9
8
6
976
in
ten
d
ed
to
r
ep
licate
a
clu
s
ter
ed
UAV
ad
h
o
c
n
etwo
r
k
with
v
ar
y
i
n
g
n
o
d
e
m
o
b
ilit
y
.
T
h
e
t
r
an
s
m
is
s
io
n
r
an
g
es
wer
e
v
ar
ied
to
ev
alu
ate
th
e
p
r
o
p
o
s
ed
m
eth
o
d
in
ac
tu
al
o
p
e
r
a
tio
n
al
co
n
d
itio
n
s
.
2
.
4
.
1
.
Sim
ula
t
io
n
t
o
po
l
o
g
y
A
p
r
elim
in
ar
y
s
etu
p
o
f
3
0
UA
V
n
o
d
es
was
b
u
ilt,
with
p
lan
s
to
ex
ten
d
to
a
s
ca
lab
le
ar
r
a
n
g
em
en
t
u
p
to
5
0
0
n
o
d
es.
T
h
e
n
o
d
es
wer
e
r
an
d
o
m
l
y
ar
r
a
n
g
ed
th
r
o
u
g
h
o
u
t
a
1
0
0
0
×
1
5
0
0
m
a
r
ea
.
E
a
ch
UAV
f
ea
tu
r
ed
a
wir
eless
in
ter
f
ac
e
th
at
f
o
llo
w
ed
th
e
I
E
E
E
8
0
2
.
1
1
MA
C
p
r
o
to
co
l
an
d
u
s
ed
th
e
two
-
r
ay
g
r
o
u
n
d
p
r
o
p
ag
atio
n
m
o
d
el
to
r
e
p
licate
r
ea
lis
tic
s
ig
n
al
b
eh
av
io
r
.
Ad
h
o
c
o
n
-
d
em
an
d
d
is
tan
ce
v
ec
to
r
(
AODV
)
,
alo
n
g
with
d
esti
n
atio
n
-
s
eq
u
en
ce
d
d
is
tan
c
e
v
ec
to
r
(
DSDV
)
alg
o
r
ith
m
s
f
o
r
r
o
u
tin
g
,
wer
e
u
s
ed
f
o
r
th
e
d
is
co
v
er
y
o
f
r
o
u
tes
an
d
m
ain
ten
a
n
ce
d
u
r
in
g
c
o
m
m
u
n
icatio
n
.
2
.
4
.
2
.
T
ra
f
f
ic
co
nfig
ura
t
io
n
T
h
e
UAV
n
etwo
r
k
was
s
im
u
lated
u
s
in
g
c
o
n
s
tan
t
b
it
r
at
e
(
C
B
R
)
an
d
Po
is
s
o
n
b
it
r
a
te
(
PB
R
)
tr
af
f
ic
m
o
d
els
to
r
ef
lect
d
if
f
e
r
en
t
co
m
m
u
n
icatio
n
d
em
an
d
s
.
T
h
e
p
ac
k
et
s
ize
was
s
et
to
1
0
0
0
b
y
tes
.
E
v
e
r
y
s
im
u
lated
s
ce
n
ar
io
was
r
u
n
f
o
r
2
5
s
ec
o
n
d
s
to
en
s
u
r
e
c
o
n
s
tan
t
tr
ac
k
in
g
o
f
s
y
s
tem
p
er
f
o
r
m
an
ce
ac
r
o
s
s
v
ar
ied
tr
af
f
ic
p
atter
n
s
.
2
.
4
.
3
.
P
er
f
o
r
m
a
nce
m
et
rics
T
h
e
s
u
g
g
ested
f
r
am
ew
o
r
k
'
s
u
s
ef
u
ln
ess
was
ev
alu
ated
u
s
in
g
f
o
u
r
k
ey
p
er
f
o
r
m
a
n
ce
m
etr
i
cs:
en
d
-
to
-
en
d
d
elay
,
p
ac
k
et
d
eliv
er
y
r
a
tio
(
PDR
)
,
th
r
o
u
g
h
p
u
t,
an
d
e
n
er
g
y
c
o
n
s
u
m
p
tio
n
.
T
h
ese
p
a
r
am
eter
s
ass
es
s
th
e
r
eliab
ilit
y
,
r
esp
o
n
s
iv
en
ess
,
an
d
en
er
g
y
ef
f
icien
cy
o
f
UAV
co
m
m
u
n
icatio
n
u
s
in
g
s
ec
u
r
e
h
y
b
r
id
en
cr
y
p
tio
n
.
T
h
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
was
co
m
p
ar
ed
to
ex
is
tin
g
ap
p
r
o
a
ch
es,
s
u
ch
as
r
an
d
o
m
k
e
y
,
p
air
wis
e
k
ey
,
an
d
E
C
C
DH,
to
d
em
o
n
s
tr
ate
im
p
r
o
v
em
en
ts
in
v
a
r
io
u
s
ass
ess
m
e
n
t m
ea
s
u
r
es.
i)
E
n
d
-
to
-
e
n
d
d
elay
(
m
s
)
:
en
d
-
to
-
en
d
d
elay
is
th
e
av
e
r
ag
e
ti
m
e
it
tak
es
f
o
r
a
d
ata
p
ac
k
et
to
g
o
f
r
o
m
its
o
r
ig
in
UAV
n
o
d
e
to
its
d
esti
n
atio
n
o
v
e
r
th
e
n
etwo
r
k
.
I
t
ac
c
o
u
n
ts
f
o
r
all
p
o
ten
tial
d
ela
y
s
,
in
clu
d
in
g
th
e
tr
an
s
f
er
,
p
r
o
p
a
g
atio
n
,
p
r
o
ce
s
s
in
g
,
p
lu
s
q
u
eu
in
g
at
t
h
e
in
ter
m
ed
iate
n
o
d
es.
I
n
UAV
c
o
m
m
u
n
icatio
n
s
,
a
s
h
o
r
ter
en
d
-
to
-
e
n
d
late
n
cy
s
u
g
g
ests
a
m
o
r
e
ag
ile
s
y
s
tem
,
wh
ich
is
cr
itical
f
o
r
r
ea
l
-
tim
e
o
p
er
atio
n
s
lik
e
s
u
r
v
eillan
ce
an
d
r
ec
o
n
n
aiss
an
ce
.
T
h
e
p
r
o
p
o
s
ed
h
y
b
r
id
en
c
r
y
p
tio
n
an
d
I
DS
r
ed
u
ce
s
late
n
cy
b
y
u
s
in
g
lig
h
tweig
h
t
en
cr
y
p
tio
n
,
im
p
r
o
v
ed
r
o
u
tin
g
,
an
d
f
ewe
r
r
etr
a
n
s
m
is
s
io
n
s
.
I
n
s
ec
u
r
e
UAV
ad
h
o
c
n
etwo
r
k
s
,
th
e
o
p
tim
al
en
d
-
to
-
en
d
d
elay
f
o
r
ea
ch
h
o
p
is
less
th
an
1
m
illi
s
ec
o
n
d
,
with
a
to
tal
n
etwo
r
k
d
elay
o
f
10
-
2
0
% less
th
an
tr
ad
itio
n
al
E
C
C
-
b
ased
s
y
s
tem
s
.
ii)
PDR
(
%):
t
h
e
PD
R
is
th
e
p
r
o
p
o
r
tio
n
o
f
d
ata
p
ac
k
ets
th
at
ar
e
s
u
cc
ess
f
u
lly
r
ec
eiv
ed
at
th
e
d
esti
n
atio
n
r
elativ
e
to
th
e
to
tal
n
u
m
b
er
o
f
p
ac
k
ets
s
en
t
f
r
o
m
th
e
s
o
u
r
ce
.
I
t
ass
es
s
es
th
e
r
eliab
ilit
y
an
d
ef
f
icac
y
o
f
th
e
ex
ch
an
g
e
o
f
in
f
o
r
m
atio
n
p
r
o
to
co
l.
Ma
in
tain
in
g
a
h
ig
h
PDR
i
n
UAV
n
etwo
r
k
s
en
s
u
r
es
d
ata
in
teg
r
ity
an
d
r
o
b
u
s
t
co
n
n
ec
tio
n
s
,
ev
e
n
d
u
r
in
g
n
o
d
e
m
o
v
em
en
t
o
r
ex
t
er
n
al
d
is
tu
r
b
an
ce
s
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
im
p
r
o
v
es
PDR
b
y
co
m
b
in
in
g
ad
ap
tiv
e
f
o
r
war
d
in
g
o
f
d
ata,
t
r
u
s
two
r
th
y
in
tr
u
s
io
n
d
etec
tio
n
,
an
d
r
eliab
le
k
ey
m
a
n
ag
em
e
n
t,
wh
ic
h
d
ec
r
ea
s
es
p
ac
k
et
lo
s
s
es
ca
u
s
ed
b
y
h
o
s
tile
ac
ts
o
r
tr
an
s
m
is
s
io
n
p
r
o
b
lem
s
.
A
PDR
g
r
ea
ter
th
an
9
5
%
is
co
n
s
id
er
ed
r
em
ar
k
a
b
le
f
o
r
UAV
co
m
m
u
n
icatio
n
s
y
s
tem
s
,
in
d
icatin
g
d
ep
en
d
a
b
le
an
d
r
esil
ien
t to
lo
s
s
d
ata
tr
an
s
m
is
s
io
n
.
iii)
T
h
r
o
u
g
h
p
u
t
(
b
p
s
)
:
t
h
r
o
u
g
h
p
u
t is
th
e
av
er
ag
e
s
p
ee
d
at
wh
ich
in
f
o
r
m
atio
n
is
s
u
cc
ess
f
u
lly
tr
an
s
f
er
r
ed
v
ia
a
co
m
m
u
n
icatio
n
co
n
n
ec
tio
n
,
m
ea
s
u
r
ed
in
b
its
p
er
s
ec
o
n
d
(
b
p
s
)
.
I
t
r
ep
r
esen
ts
th
e
ef
f
icac
y
o
f
b
an
d
wid
t
h
u
s
e
wh
en
s
ec
u
r
ely
s
en
d
in
g
d
ata.
I
n
t
h
is
s
tu
d
y
,
th
r
o
u
g
h
p
u
t
is
im
p
ac
ted
b
y
f
ac
t
o
r
s
s
u
ch
as
en
cr
y
p
tin
g
o
v
er
h
ea
d
,
r
o
u
te
ef
f
ec
tiv
e
n
ess
,
an
d
tr
af
f
ic
ac
r
o
s
s
th
e
n
etw
o
r
k
.
T
h
e
r
ec
o
m
m
en
d
e
d
h
y
b
r
id
en
cr
y
p
tio
n
s
o
lu
tio
n
in
cr
ea
s
es
s
p
ee
d
b
y
c
o
m
p
r
ess
in
g
d
ata
b
ef
o
r
e
en
c
r
y
p
t
io
n
an
d
r
ed
u
cin
g
n
ee
d
less
co
m
m
u
n
icatio
n
s
b
etwe
en
UAV
clu
s
ter
s
.
A
co
n
s
tan
t
g
r
o
wth
in
p
r
o
d
u
ctio
n
o
v
er
tim
e
in
d
icate
s
in
cr
ea
s
ed
e
f
f
icien
cy
.
Fo
r
s
ec
u
r
e
co
m
m
u
n
icatio
n
with
U
AVs,
th
e
th
r
o
u
g
h
p
u
t
s
h
o
u
ld
b
e
m
o
r
e
th
a
n
0
.
9
b
p
s
(
th
e
n
o
r
m
alize
d
v
alu
e
)
o
r
d
em
o
n
s
tr
ate
a
6
-
1
0
% im
p
r
o
v
em
en
t o
v
er
s
tan
d
ar
d
E
C
C
DH
-
b
ased
tech
n
iq
u
es.
iv
)
E
n
er
g
y
co
n
s
u
m
p
tio
n
(
p
J
)
:
en
e
r
g
y
co
n
s
u
m
p
tio
n
is
th
e
to
tal
en
er
g
y
co
n
s
u
m
e
d
b
y
th
e
UAV
n
o
d
e
f
o
r
tr
an
s
m
itti
n
g
in
f
o
r
m
atio
n
,
r
ec
e
p
tio
n
,
e
n
cr
y
p
tio
n
,
a
n
d
d
etec
tin
g
o
f
in
tr
u
s
io
n
s
,
m
ea
s
u
r
ed
in
p
ico
jo
u
les
(
p
J
)
.
I
t
in
d
icate
s
th
e
UAV
n
etwo
r
k
'
s
s
u
s
tain
ab
le
o
p
er
atio
n
an
d
en
er
g
y
e
f
f
icien
cy
.
UAVs
r
e
ly
o
n
lim
ite
d
m
id
-
b
o
a
r
d
en
e
r
g
y
;
th
er
ef
o
r
e,
l
o
wer
in
g
p
o
wer
c
o
n
s
u
m
p
tio
n
i
m
m
ed
iately
in
cr
ea
s
es
f
ly
in
g
e
n
d
u
r
a
n
ce
an
d
m
is
s
io
n
s
’
len
g
th
.
T
h
e
p
r
o
p
o
s
ed
s
tr
ateg
y
ac
h
iev
es
s
ig
n
i
f
ican
t
en
er
g
y
s
av
in
g
s
b
y
i
m
p
r
o
v
i
n
g
k
e
y
m
an
ag
em
en
t,
u
tili
zin
g
en
e
r
g
y
-
co
n
s
cio
u
s
r
o
u
ti
n
g
,
an
d
d
ec
r
ea
s
in
g
tr
an
s
m
is
s
io
n
v
ia
co
m
p
r
ess
io
n
.
T
o
p
r
o
d
u
ce
en
e
r
g
y
-
ef
f
icien
t
UA
V
d
ev
ices,
o
v
er
all
e
n
er
g
y
u
s
e
m
u
s
t
b
e
d
ec
r
ea
s
ed
,
to
s
av
e
3
5
-
5
5
%
o
v
er
tr
ad
itio
n
al
en
cr
y
p
tio
n
m
eth
o
d
s
s
u
ch
as E
C
C
DH
o
r
p
air
s
o
f
k
ey
ap
p
r
o
ac
h
es.
2
.
4
.
4
.
Sim
ula
t
io
n
env
iro
nm
e
nt
pa
ra
m
et
er
s
T
ab
le
1
co
m
p
iles
all
o
f
th
e
s
e
ttin
g
p
ar
am
eter
s
f
o
r
th
e
m
o
d
e
l
u
s
ed
in
th
is
r
esear
ch
.
Sam
p
l
e
p
ictu
r
es
ar
e
also
p
r
o
v
i
d
ed
in
Fig
u
r
es
3
to
6
to
d
ep
ict
th
e
en
tire
s
im
u
latio
n
en
v
ir
o
n
m
en
t,
in
cl
u
d
in
g
n
o
d
e
lay
o
u
t
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Un
ma
n
n
ed
a
eria
l v
eh
icle
s
ystems
:
ke
y
ma
n
a
g
eme
n
t
a
n
d
…
(
R
esh
ma
C
.
S
o
n
a
w
a
n
e)
977
co
m
m
u
n
icatio
n
r
elatio
n
s
h
ip
s
,
an
d
clu
s
ter
lea
d
er
s
h
ip
i
n
ter
ac
tio
n
s
.
T
h
ese
p
ictu
r
es
s
er
v
e
to
clar
if
y
th
e
ex
p
er
im
en
tal
lay
o
u
t a
n
d
its
o
p
er
atio
n
al
p
r
o
ce
s
s
.
T
ab
le
1
.
Par
am
eter
s
an
d
v
alu
e
s
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
S
i
mu
l
a
t
i
o
n
d
u
r
a
t
i
o
n
2
5
se
c
o
n
d
s
Ty
p
e
o
f
c
h
a
n
n
e
l
t
y
p
e
W
i
r
e
l
e
ss
P
r
o
p
a
g
a
t
i
o
n
s
y
st
e
m
2
r
a
y
g
r
o
u
n
d
S
t
a
n
d
a
r
d
M
A
C
/
8
0
2
.
1
1
S
i
mu
l
a
t
i
o
n
d
i
me
n
s
i
o
n
1
,
0
0
0
×
1
,
5
0
0
m
2
M
a
x
i
m
u
m
p
a
c
k
e
t
si
z
e
1
,
0
0
0
b
y
t
e
s
A
d
h
o
c
r
o
u
t
i
n
g
D
S
D
V
,
A
O
D
V
,
d
y
n
a
mi
c
s
o
u
r
c
e
r
o
u
t
i
n
g
(
D
S
R
)
,
s
e
c
u
r
e
A
O
D
V
(
S
A
O
D
V
)
Tr
a
f
f
i
c
P
B
R
,
C
B
R
Fig
u
r
e
3
.
I
n
itial st
ar
t o
f
th
e
s
i
m
u
latio
n
en
v
ir
o
n
m
e
n
t
Fig
u
r
e
4
.
B
ef
o
r
e
th
e
clu
s
ter
g
e
n
er
atio
n
s
ce
n
ar
io
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
972
-
9
8
6
978
Fig
u
r
e
5
.
C
lu
s
ter
g
en
e
r
atio
n
s
ce
n
ar
io
Fig
u
r
e
6
.
C
o
m
m
u
n
icatio
n
b
et
wee
n
n
o
d
es a
n
d
c
lu
s
ter
h
ea
d
3.
CO
M
P
ARA
T
I
V
E
L
I
T
E
RA
T
UR
E
RE
V
I
E
W
Sev
er
al
n
o
v
el
ap
p
r
o
ac
h
es
a
r
e
b
ein
g
e
x
p
lo
r
e
d
to
im
p
r
o
v
e
t
h
e
s
ec
u
r
ity
an
d
co
m
m
u
n
icatio
n
ef
f
icac
y
o
f
UAV
an
d
in
ter
n
et
o
f
th
i
n
g
s
(
I
o
T
)
s
y
s
tem
s
.
Xu
et
a
l.
[
2
9
]
,
d
ev
elo
p
ed
a
b
lo
c
k
ch
ain
-
b
ased
in
tr
u
s
io
n
d
etec
tio
n
s
o
lu
tio
n
f
o
r
d
r
o
n
e
s
y
s
tem
s
th
at
is
tam
p
er
-
r
esis
tan
t
b
u
t
r
estricte
d
b
y
c
o
n
s
en
s
u
s
d
elay
s
.
Fu
r
th
er
r
esear
ch
er
s
s
u
g
g
ested
an
ef
f
icien
t
k
ey
e
x
ch
an
g
e
m
ec
h
an
is
m
th
at
u
s
es
E
C
C
to
im
p
r
o
v
e
p
er
f
o
r
m
an
ce
o
n
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
d
e
v
ices,
s
u
ch
as
t
h
o
s
e
p
r
ev
ale
n
t
in
UAV
n
etwo
r
k
s
[
3
0
]
.
T
h
is
th
em
e
is
m
o
d
if
i
ed
b
y
t
h
e
d
esig
n
er
o
f
a
b
l
o
ck
ch
ain
-
b
ased
r
ei
n
f
o
r
cin
g
lear
n
i
n
g
f
r
am
ewo
r
k
to
im
p
r
o
v
e
k
ey
ad
m
in
is
tr
atio
n
ef
f
icien
cy
i
n
I
o
T
n
etwo
r
k
s
wh
ile
en
s
u
r
in
g
r
esil
ien
ce
an
d
s
ec
u
r
it
y
[
3
1
]
.
T
h
e
g
lim
p
s
e
o
f
g
l
o
w
g
lo
wwo
r
m
s
war
m
o
p
tim
izatio
n
ap
p
r
o
ac
h
to
o
p
tim
ize
th
e
b
lo
c
k
ch
ain
-
b
ased
f
r
a
m
ewo
r
k
in
in
d
u
s
tr
ial
I
o
T
s
itu
atio
n
s
is
p
r
esen
ted
in
[
3
2
]
.
W
h
ile
an
ar
tific
ial
in
tellig
en
ce
-
b
ased
k
ey
ad
m
in
is
tr
atio
n
s
y
s
tem
f
o
r
s
ca
lab
ilit
y
,
m
u
lti
-
tier
d
etec
tio
n
o
f
in
tr
u
s
io
n
in
UAV
n
etwo
r
k
s
is
d
ep
icted
i
n
d
etail
b
y
[
3
3
]
.
R
esear
ch
er
s
wo
r
k
ed
o
n
e
n
h
an
ci
n
g
d
ep
en
d
ab
ilit
y
an
d
t
o
ler
an
ce
f
o
r
f
a
u
lts
in
s
en
s
o
r
n
etwo
r
k
s
th
at
ar
e
wir
eless
f
o
r
in
d
u
s
tr
y
UAV
ap
p
licatio
n
s
,
tack
lin
g
th
e
d
if
f
ic
u
lties
o
f
co
n
tin
u
o
u
s
in
ter
ac
tio
n
an
d
en
er
g
y
ef
f
icien
cy
[
3
4
]
.
I
n
co
m
p
ar
is
o
n
,
o
u
r
s
u
g
g
ested
s
tr
ateg
y
p
r
io
r
itizes
s
ec
u
r
ity
an
d
co
n
s
er
v
in
g
en
er
g
y
b
y
c
o
m
b
in
in
g
E
C
C
-
b
ased
en
cr
y
p
tio
n
with
b
eh
av
io
r
-
b
ased
I
-
W
atch
d
o
g
d
etec
tio
n
,
r
esu
ltin
g
in
th
e
h
ig
h
est
th
r
o
u
g
h
p
u
t
an
d
s
av
in
g
s
o
n
e
n
er
g
y
w
ith
o
u
t
th
e
c
o
m
p
u
tatio
n
al
co
s
t
o
f
b
lo
c
k
ch
ain
.
As
a
r
esu
lt,
th
is
s
tu
d
y
f
ills
a
n
ee
d
b
y
c
o
m
b
in
in
g
u
ltra
lig
h
t
E
C
C
en
cr
y
p
tio
n
with
a
tr
u
s
two
r
th
y
I
DS
d
ev
el
o
p
ed
f
o
r
ad
h
o
c
UAV
n
etwo
r
k
s
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
I
n
th
is
p
ar
t,
we
ass
ess
b
o
th
cu
r
r
en
t
an
d
p
lan
n
e
d
s
y
s
tem
s
b
ased
o
n
a
c
o
m
p
lete
e
x
a
m
in
atio
n
o
f
n
u
m
er
o
u
s
p
er
f
o
r
m
an
ce
p
ar
a
m
eter
s
s
u
ch
as
th
r
o
u
g
h
p
u
t,
PDR
,
en
d
-
to
-
en
d
d
elay
,
an
d
e
n
er
g
y
c
o
n
s
u
m
p
ti
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Un
ma
n
n
ed
a
eria
l v
eh
icle
s
ystems
:
ke
y
ma
n
a
g
eme
n
t
a
n
d
…
(
R
esh
ma
C
.
S
o
n
a
w
a
n
e)
979
T
h
e
ev
alu
atio
n
was c
ar
r
ied
o
u
t w
ith
th
e
NS2
s
im
u
latio
n
s
to
o
l (
v
er
s
io
n
2
.
3
5
)
,
wh
ich
is
k
n
o
wn
f
o
r
its
ac
cu
r
ac
y
.
T
h
e
s
im
u
latio
n
s
u
s
ed
an
in
f
r
astru
ctu
r
e
-
b
ased
n
etwo
r
k
ar
c
h
itectu
r
e
b
ased
o
n
s
o
m
e
p
ar
a
m
eter
s
,
as
s
h
o
wn
i
n
T
ab
le
1
,
to
p
r
o
v
id
e
a
s
tab
le
wir
eless
n
etwo
r
k
,
wh
ile
we
ex
ec
u
ted
th
e
co
m
p
lete
r
ec
o
m
m
en
d
ed
p
lan
in
to
o
l
co
m
m
an
d
la
n
g
u
a
g
e
(
T
C
L
)
c
o
d
in
g
in
s
id
e
o
f
th
e
NS
2
f
r
a
m
ewo
r
k
.
T
h
e
E
v
alVid
Fo
u
n
d
atio
n
was
u
s
ed
to
ca
p
tu
r
e
c
o
n
n
ec
tio
n
d
ata
m
ess
ag
es
u
s
in
g
its
co
n
n
ec
tio
n
p
atter
n
s
f
ile,
u
s
1
.
E
f
f
ec
tiv
en
ess
s
tatis
tics
ar
e
p
r
o
d
u
ce
d
u
s
in
g
th
e
NS2
.
tr
tr
ac
e
f
ile,
allo
win
g
b
o
t
h
v
ec
to
r
an
d
s
ca
lar
ass
es
s
m
en
t o
f
d
ata.
As
in
d
icate
d
in
T
a
b
le
1
,
we
ca
r
ef
u
lly
ch
o
s
e
o
u
r
s
im
u
lati
o
n
s
ettin
g
s
to
a
d
eq
u
ately
ev
alu
ate
th
e
r
ec
o
m
m
en
d
ed
s
y
s
tem
'
s
p
er
f
o
r
m
an
ce
.
Nev
e
r
th
eless
,
o
u
r
d
ata
g
ath
er
in
g
was
lim
ited
b
y
th
e
UAV'
s
p
o
wer
co
n
s
u
m
p
tio
n
an
d
in
f
o
r
m
atio
n
co
v
er
ag
e.
T
o
s
o
lv
e
th
ese
is
s
u
es,
we
im
p
r
o
v
ed
co
n
n
ec
tio
n
tim
es
an
d
im
p
lem
en
ted
an
em
er
g
en
cy
n
o
d
e
s
y
s
tem
,
r
esu
ltin
g
in
in
cr
ea
s
ed
b
atter
y
life
an
d
r
elia
b
le
d
ata
co
llectio
n
.
I
n
ad
d
itio
n
,
we
p
r
eser
v
e
d
n
e
two
r
k
in
teg
r
ity
b
y
co
n
s
tan
tly
r
ev
is
in
g
f
o
r
ex
ter
n
al
v
ar
iab
l
es
lik
e
as
p
h
y
s
ical
im
p
ed
im
en
ts
an
d
in
ter
f
e
r
en
ce
with
s
ig
n
als.
T
h
eo
r
etica
l
is
s
u
es
d
ev
elo
p
ed
in
r
ec
o
n
cilin
g
s
ec
u
r
ity
n
ee
d
s
with
th
e
en
er
g
y
ec
o
n
o
m
y
,
esp
ec
ial
ly
g
iv
e
n
th
e
r
estricte
d
co
m
p
u
tatio
n
al
ca
p
ac
ity
in
UAV
n
et
wo
r
k
s
.
T
o
ad
d
r
ess
th
ese
d
if
f
icu
lties
,
we
cr
ea
ted
a
h
y
b
r
id
s
ec
u
r
ity
s
y
s
tem
th
at
co
m
b
in
es
lig
h
tweig
h
t
cr
y
p
to
g
r
ap
h
y
with
f
le
x
ib
le
k
ey
m
an
ag
e
m
en
t.
T
h
is
s
tr
ateg
y
ad
d
itio
n
ally
en
h
an
ce
d
t
h
e
c
o
n
f
id
en
tiality
o
f
in
f
o
r
m
atio
n
,
b
u
t
also
d
ec
r
ea
s
ed
p
r
o
ce
s
s
in
g
tim
es.
T
h
ese
ea
r
ly
d
if
f
icu
lties
an
d
an
s
wer
s
s
er
v
e
as
a
f
o
u
n
d
atio
n
f
o
r
o
u
r
c
o
n
clu
s
io
n
s
,
wh
ich
ar
e
g
r
ap
h
ically
illu
s
tr
ated
ag
ain
s
t
k
ey
p
ar
am
ete
r
s
b
ased
o
n
d
a
ta
p
r
o
v
id
e
d
b
y
u
s
.
T
h
e
f
in
d
in
g
s
s
h
o
w
th
at
th
e
p
r
o
p
o
s
ed
s
y
s
tem
o
u
t
p
er
f
o
r
m
s
ex
is
tin
g
s
o
lu
tio
n
s
in
ter
m
s
o
f
ef
f
icien
c
y
a
n
d
ef
f
icac
y
in
UAV
n
etwo
r
k
s
ce
n
ar
io
s
.
Ou
r
d
ata
g
ath
er
in
g
was
r
estricte
d
b
y
th
e
UA
V
'
s
last
in
g
p
o
wer
an
d
th
e
am
o
u
n
t
o
f
d
ata
co
v
er
e
d
.
T
o
ad
d
r
ess
th
is
,
we
im
p
r
o
v
e
d
co
n
n
ec
tio
n
tim
es
an
d
im
p
lem
en
ted
a
n
alter
n
ate
n
o
d
e
s
y
s
tem
,
r
esu
ltin
g
in
lo
n
g
er
b
atter
y
life
an
d
r
eliab
le
d
ata
co
llectio
n
.
I
n
ad
d
itio
n
,
n
etwo
r
k
in
te
g
r
ity
was
p
r
e
s
er
v
ed
b
y
p
e
r
io
d
ic
r
ec
alib
r
atio
n
f
o
r
e
x
ter
n
al
ele
m
en
ts
s
u
ch
as
p
h
y
s
ical
im
p
e
d
im
en
ts
an
d
s
ig
n
al
d
is
r
u
p
tio
n
.
T
h
eo
r
etica
l
is
s
u
es
h
av
e
also
d
ev
el
o
p
ed
,
p
a
r
ticu
lar
ly
in
r
ec
o
n
cilin
g
s
ec
u
r
ity
n
ee
d
s
with
e
n
er
g
y
ec
o
n
o
m
y
in
UAV
n
etwo
r
k
s
h
av
in
g
lim
ited
p
r
o
ce
s
s
in
g
c
ap
ab
ilit
y
.
W
e
cr
ea
ted
a
co
m
b
in
atio
n
s
ec
u
r
ity
a
r
ch
itect
u
r
e
th
at
co
m
b
in
es
lig
h
tweig
h
t
en
cr
y
p
tio
n
an
d
f
l
ex
ib
le
co
n
t
r
o
l
o
f
k
e
y
s
to
im
p
r
o
v
e
d
ata
s
ec
u
r
ity
wh
ile
d
e
cr
ea
s
in
g
p
r
o
ce
s
s
in
g
tim
es.
T
h
ese
ea
r
ly
o
b
s
tacle
s
an
d
s
o
lu
tio
n
s
p
r
o
v
id
e
c
o
n
tex
t
f
o
r
an
aly
zin
g
o
u
r
f
in
d
in
g
s
,
tak
i
n
g
in
to
ac
c
o
u
n
t
th
e
p
r
ac
tical
an
d
t
h
eo
r
etica
l
lim
it
s
in
h
er
en
t
in
UAV
n
etwo
r
k
s
ettin
g
s
.
W
e
b
eg
in
b
y
ca
lcu
lati
n
g
th
e
tr
an
s
m
is
s
io
n
tim
e
n
ec
ess
ar
y
to
tr
an
s
f
er
in
f
o
r
m
atio
n
f
r
o
m
th
e
o
r
ig
in
atin
g
t
o
th
e
d
esti
n
atio
n
.
T
ab
le
2
s
h
o
ws r
ec
o
r
d
ed
v
alu
es.
T
ab
le
2
.
E
n
d
-
to
-
en
d
p
ac
k
et
d
e
lay
Ti
me
(
sec
o
n
d
s)
R
a
n
d
o
m
ke
y
[
2
4
]
P
a
i
r
w
i
se
ke
y
[
2
5
]
EC
C
D
H
[
2
6
]
P
r
o
p
o
se
d
m
e
t
h
o
d
5
1
.
3
5
2
.
1
5
1
.
2
5
1
10
1
.
8
2
.
4
1
.
4
5
0
.
9
15
1
.
9
2
.
2
5
1
.
1
5
0
.
8
20
2
3
.
0
5
1
.
0
5
0
.
9
2
T
h
is
r
esear
ch
p
r
o
v
id
es
a
s
tatis
tical
an
aly
s
is
o
f
th
r
o
u
g
h
o
u
t
its
en
tire
ty
p
ac
k
et
d
elay
s
f
o
r
f
o
u
r
k
ey
co
n
tr
o
l
m
et
h
o
d
s
at
p
er
io
d
s
o
f
5
,
10
,
15
,
as
well
as
20
s
ec
o
n
d
s
.
T
h
is
r
ev
iew
s
h
ed
s
lig
h
t
o
n
ea
c
h
s
ch
em
e'
s
ef
f
ec
tiv
en
ess
u
n
d
er
v
ar
io
u
s
n
etwo
r
k
s
itu
atio
n
s
,
n
o
tab
ly
in
UAV
s
y
s
tem
s
,
in
wh
ich
h
ig
h
d
ata
tr
a
n
s
m
is
s
io
n
r
ates
f
r
eq
u
en
tly
r
esu
lt
in
o
b
s
ta
cles
an
d
d
elay
s
.
T
o
a
d
d
r
ess
th
ese
d
if
f
icu
lties
,
tim
e
ef
f
icien
c
y
an
d
s
o
p
h
is
ticated
en
cr
y
p
tio
n
tech
n
iq
u
es
wer
e
ap
p
lied
,
r
esu
ltin
g
in
a
1
3
-
1
7
%
d
ec
lin
e
in
av
er
ag
e
laten
cy
o
v
e
r
p
r
e
v
io
u
s
k
ey
-
g
e
n
er
atio
n
p
r
o
ce
d
u
r
es,
a
s
d
ep
icted
in
Fig
u
r
e
7
.
T
h
e
d
ata
s
h
o
ws
th
at
th
e
r
an
d
o
m
ized
k
ey
ap
p
r
o
ac
h
en
co
u
n
ter
s
g
r
o
win
g
d
elay
s
,
b
e
g
in
n
in
g
at
1
.
3
5
s
ec
o
n
d
s
an
d
th
en
escalatin
g
to
a
d
u
r
atio
n
o
f
t
wo
s
ec
o
n
d
s
b
ef
o
r
e
r
ea
ch
in
g
t
h
e
2
0
-
s
ec
o
n
d
p
o
i
n
t,
in
d
icatin
g
a
d
ec
r
ea
s
e
in
e
f
f
ec
tiv
en
ess
as
n
etwo
r
k
d
em
an
d
d
e
v
elo
p
s
.
T
h
e
p
air
wis
e
k
ey
ap
p
r
o
ac
h
ex
h
ib
i
ts
s
ig
n
if
ican
tly
g
r
ea
ter
d
elay
s
,
r
an
g
in
g
f
r
o
m
2
.
1
5
t
o
3
.
0
5
s
ec
o
n
d
s
,
in
d
icatin
g
in
cr
ea
s
ed
co
m
p
u
tatio
n
al
ex
p
en
s
es
an
d
in
ef
f
icien
cies.
E
C
DH
alg
o
r
ith
m
o
r
E
C
C
DH
wo
r
k
s
b
etter
,
with
laten
cies
r
an
g
in
g
f
r
o
m
1
.
2
5
t
o
1
.
5
s
ec
o
n
d
s
,
alth
o
u
g
h
it
f
a
lls
s
h
o
r
t
o
f
t
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
i
n
ter
m
s
o
f
ef
f
icien
cy
.
T
h
e
s
u
g
g
ested
ap
p
r
o
ac
h
s
tan
d
s
o
u
t
f
o
r
its
co
n
tin
u
o
u
s
ly
lo
w
laten
cy
,
w
h
ich
b
eg
in
s
at
1
s
ec
o
n
d
an
d
g
r
ad
u
ally
d
ec
r
ea
s
es
to
a
d
u
r
a
tio
n
o
f
0
.
8
s
ec
o
n
d
s
b
y
f
i
f
teen
s
ec
o
n
d
s
,
p
r
o
v
in
g
its
p
o
ten
tia
l
f
o
r
i
n
s
tan
tan
eo
u
s
co
m
m
u
n
icatio
n
.
Fig
u
r
e
3
is
d
i
s
p
lay
ed
to
f
ac
ilit
ate
co
m
p
r
eh
e
n
s
io
n
o
f
th
e
co
llected
tab
le
in
f
o
r
m
atio
n
.
Fig
u
r
e
7
d
e
p
icts
th
ese
v
ar
iatio
n
s
v
is
u
ally
,
with
th
e
p
r
o
v
id
e
d
ap
p
r
o
ac
h
'
s
laten
cy
b
ar
s
co
n
s
tan
tly
lo
wer
co
m
p
ar
ed
t
o
th
e
o
th
er
a
p
p
r
o
a
ch
es,
d
em
o
n
s
tr
atin
g
its
ef
f
ica
cy
ev
en
as
th
e
d
ata
am
o
u
n
t
r
i
s
es.
I
n
co
m
p
ar
is
o
n
,
th
e
p
air
wis
e
k
e
y
m
eth
o
d
h
as
th
e
g
r
ea
test
d
ela
y
in
d
e
v
elo
p
m
en
t,
s
u
g
g
esti
n
g
in
ef
f
icien
cy
.
B
o
th
E
C
C
DH
an
d
r
an
d
o
m
k
ey
tech
n
i
q
u
es
f
u
n
c
tio
n
s
atis
f
ac
to
r
ily
;
h
o
wev
er
,
th
ey
f
all
s
h
o
r
t
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
'
s
id
ea
l
p
er
f
o
r
m
an
ce
.
T
h
e
s
im
u
latio
n
ev
alu
ated
th
e
m
et
h
o
d
s
o
f
r
an
d
o
m
k
ey
[
2
4
]
,
p
air
wis
e
k
e
y
[
2
5
]
,
an
d
E
C
C
DH
[
2
6
]
as
o
p
p
o
s
ed
to
th
e
p
r
o
p
o
s
ed
m
eth
o
d
.
T
h
e
NS2
.
3
5
s
im
u
latio
n
was
co
n
f
ig
u
r
ed
with
d
if
f
er
en
t
r
o
u
tin
g
p
r
o
to
co
ls
,
s
u
ch
as
DSDV
an
d
AODV
,
an
d
u
tili
ze
d
a
r
ea
lis
tic
ter
r
ain
m
e
asu
r
in
g
1
,
0
0
0
b
y
1
,
5
0
0
s
q
u
ar
e
m
eter
s
.
Statis
tica
l
in
v
esti
g
atio
n
d
em
o
n
s
tr
ates th
at
th
e
o
f
f
er
e
d
m
eth
o
d
d
ec
r
ea
s
es p
ac
k
et
d
elay
b
y
1
3
-
17%
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
972
-
9
8
6
980
Fig
u
r
e
7
.
C
o
m
p
a
r
ativ
e
en
d
-
to
-
en
d
p
ac
k
et
d
elay
b
etwe
en
well
-
k
n
o
wn
k
ey
m
an
ag
em
e
n
t m
et
h
o
d
s
T
h
is
in
cr
ea
s
e
is
cr
itical
f
o
r
n
etwo
r
k
s
th
at
n
ee
d
l
o
w
l
aten
cy
,
in
cl
u
d
in
g
UAV
in
f
r
astru
ctu
r
e,
ap
p
licatio
n
s
f
o
r
th
e
I
o
T
,
an
d
r
ea
l
-
tim
e
in
ter
ac
tio
n
p
latf
o
r
m
s
,
s
in
ce
it
im
m
ed
iately
im
p
r
o
v
es
co
n
n
ec
tio
n
s
p
ee
d
an
d
p
a
ck
et
d
eliv
er
y
d
ep
e
n
d
a
b
ilit
y
,
wh
ich
ar
e
s
ig
n
if
ica
n
t
i
n
d
icatio
n
s
o
f
n
etwo
r
k
e
f
f
icie
n
cy
.
Ultim
ately
,
th
e
f
in
d
in
g
s
,
co
n
f
ir
m
ed
b
y
b
o
th
T
ab
le
2
an
d
Fig
u
r
e
7
,
s
h
o
w
th
at
th
e
s
u
g
g
ested
s
tr
ateg
y
g
r
ea
tly
s
u
r
p
ass
es
ex
i
s
tin
g
s
tr
ateg
ies
in
ter
m
s
o
f
d
ela
y
r
ed
u
ctio
n
,
m
ak
i
n
g
it
th
e
b
est
alter
n
ativ
e
f
o
r
o
u
ts
tan
d
in
g
p
er
f
o
r
m
a
n
ce
co
m
m
u
n
icatio
n
.
T
h
e
co
m
b
in
atio
n
o
f
r
o
b
u
s
t
en
cr
y
p
tio
n
an
d
d
elay
r
ed
u
ctio
n
alg
o
r
ith
m
s
ass
u
r
es
ef
f
icien
t,
m
in
im
al
laten
cy
d
ata
tr
an
s
p
o
r
t,
r
en
d
e
r
in
g
th
e
s
u
g
g
ested
tech
n
iq
u
e
an
im
p
o
r
tan
t
s
tep
f
o
r
war
d
in
f
u
tu
r
e
r
esear
ch
o
n
r
eliab
le
an
d
s
u
cc
e
s
s
f
u
l
co
m
m
u
n
icatio
n
n
etwo
r
k
s
.
Af
ter
f
in
is
h
in
g
th
e
d
elay
an
aly
s
is
o
p
er
atio
n
,
we
ex
am
in
e
th
e
d
ata
p
ac
k
et
d
eliv
er
y
p
er
ce
n
ta
g
e.
T
h
e
p
ac
k
et
d
eliv
er
in
g
r
atio
is
an
in
ter
n
et
p
er
f
o
r
m
an
ce
m
etr
ic
th
at
ass
e
s
s
es
th
e
r
eliab
ilit
y
an
d
ef
f
icac
y
o
f
tr
an
s
m
itti
n
g
in
f
o
r
m
atio
n
o
v
er
a
n
etwo
r
k
.
I
t
i
s
d
eter
m
in
ed
as
th
e
f
r
ac
tio
n
o
f
th
e
en
tire
d
ata
p
ac
k
ets co
n
v
ey
ed
to
th
e
r
ec
eiv
er
d
i
v
id
ed
b
y
th
e
to
tal
q
u
a
n
tity
o
f
p
ac
k
ets s
en
t b
y
th
e
s
en
d
er
.
T
ab
le
3
d
is
p
lay
s
th
e
PDR
,
an
im
p
o
r
tan
t
s
tatis
tic
th
at
q
u
an
tifie
s
th
e
s
h
ar
e
o
f
t
h
e
i
n
f
o
r
m
atio
n
p
ac
k
ets
th
at
ar
e
s
u
cc
ess
f
u
lly
d
eliv
er
ed
to
th
eir
d
esti
n
atio
n
o
f
ch
o
ic
e
co
m
p
ar
ed
to
th
e
to
tal
q
u
an
t
ity
o
f
d
ata
ass
ig
n
ed
b
y
th
e
in
itial
s
o
u
r
ce
,
to
f
ee
d
f
o
u
r
d
if
f
er
en
t
k
ey
ad
m
in
is
tr
ati
o
n
s
tr
ateg
ies:
r
a
n
d
o
m
k
ey
[
2
4
]
,
p
ai
r
wis
e
k
ey
[
2
5
]
,
E
C
C
DH
[
2
6
]
,
an
d
th
e
p
r
o
p
o
s
e
d
m
eth
o
d
.
Fo
u
r
s
ep
ar
ate
p
e
r
io
d
s
—
5
,
1
0
,
1
5
,
an
d
2
0
s
ec
o
n
d
s
—
ar
e
em
p
lo
y
ed
to
g
ath
er
th
e
m
et
r
ics.
T
ab
le
3
.
Pack
et
d
eliv
er
y
r
atio
S
e
r
i
e
s
Ti
me
(
sec
o
n
d
s)
R
a
n
d
o
m
k
e
y
[
2
4
]
P
a
i
r
w
i
se
ke
y
[
2
5
]
EC
C
D
H
[
2
6
]
P
r
o
p
o
se
d
m
e
t
h
o
d
1
5
8
8
.
5
91
9
2
.
2
9
5
.
5
2
10
89
9
0
.
5
9
2
.
8
9
5
.
8
3
15
8
9
.
7
9
1
.
2
93
9
5
.
3
4
20
90
9
1
.
8
9
3
.
3
9
5
.
7
T
h
e
r
esea
r
ch
co
m
p
a
r
es
t
h
e
r
ati
o
o
f
PDR
o
f
s
ev
er
al
i
m
p
o
r
ta
n
t
m
a
n
a
g
e
m
e
n
t
tec
h
n
i
q
u
e
s
,
o
f
f
e
r
i
n
g
in
s
i
g
h
ts
i
n
t
o
th
ei
r
r
elia
b
ilit
y
a
n
d
ef
f
e
cti
v
e
n
ess
ac
r
o
s
s
w
ir
el
e
s
s
s
y
s
te
m
s
s
u
c
h
as
t
h
e
I
o
T
a
n
d
UAV
n
etw
o
r
k
i
n
g
[
3
2
]
–
[
3
7
]
.
Ma
i
n
t
ai
n
i
n
g
a
h
i
g
h
PDR
i
n
s
u
c
h
s
y
s
t
em
s
is
cr
iti
ca
l
f
o
r
e
n
s
u
r
in
g
ti
m
el
y
a
n
d
c
o
r
r
ec
t d
at
a
t
r
a
n
s
m
is
s
i
o
n
in
t
h
e
f
a
ce
o
f
o
b
s
ta
cles
l
ik
e
as
i
n
t
e
r
f
er
e
n
ce
-
i
n
d
u
ce
d
l
o
s
s
o
f
p
ac
k
e
ts
an
d
i
n
t
eg
r
i
ty
o
f
s
ig
n
als
,
p
a
r
ti
cu
la
r
l
y
i
n
ap
p
li
ca
ti
o
n
s
in
v
o
l
v
i
n
g
UAV
s
.
T
o
a
d
d
r
ess
t
h
ese
c
h
all
en
g
es,
a
u
n
i
q
u
e
a
d
a
p
ti
v
e
p
ac
k
e
t
-
o
r
ie
n
te
d
tr
an
s
f
e
r
tec
h
n
i
q
u
e
w
as
d
e
v
e
lo
p
ed
t
h
at
ef
f
e
cti
v
e
ly
d
ec
r
e
ases
i
n
te
r
f
e
r
e
n
c
e
w
h
il
e
m
ai
n
tai
n
i
n
g
h
i
g
h
p
a
ck
et
d
e
li
v
e
r
y
r
at
es.
A
r
a
n
d
o
m
k
e
y
a
p
p
r
o
a
ch
h
a
d
t
h
e
l
o
w
est
PDR
,
i
n
d
i
ca
t
in
g
li
m
ite
d
e
f
f
ec
t
iv
e
n
ess
a
n
d
s
ta
y
i
n
g
b
el
o
w
9
0
%
d
esp
ite
s
lig
h
t
im
p
r
o
v
em
en
ts
o
v
e
r
ti
m
e
.
T
h
e
p
ai
r
i
n
g
k
e
y
s
ch
em
e
p
e
r
f
o
r
m
e
d
s
i
g
n
i
f
i
ca
n
tl
y
b
e
tt
er
,
b
u
t
f
el
l
s
h
o
r
t
o
f
s
o
p
h
is
tic
at
ed
t
ec
h
n
iq
u
es
l
ik
e
E
C
C
DH.
E
C
C
DH
m
ai
n
t
ai
n
e
d
a
c
o
n
s
is
t
e
n
t
P
DR
o
f
m
o
r
e
t
h
a
n
9
2
%,
b
u
t
f
e
ll
s
h
o
r
t
o
f
t
h
e
s
u
g
g
este
d
m
e
th
o
d
'
s
p
r
o
f
it
a
b
ili
ty
.
T
h
e
p
r
o
p
o
s
e
d
ap
p
r
o
ac
h
r
e
g
u
la
r
l
y
p
r
o
d
u
c
ed
th
e
g
r
e
at
est
PDR
,
b
e
g
i
n
n
i
n
g
a
t
9
5
.
5
%
a
n
d
i
n
c
r
e
asin
g
m
ar
g
i
n
all
y
to
9
5
.
8
%,
r
e
s
u
lt
in
g
i
n
a
n
es
p
e
cia
ll
y
d
e
p
en
d
a
b
l
e
alte
r
n
a
ti
v
e
f
o
r
cr
i
tic
al
in
te
r
a
cti
o
n
n
e
tw
o
r
k
s
.
W
h
e
n
co
m
p
a
r
e
d
to
t
h
es
e
alt
er
n
at
iv
es,
t
h
e
r
a
n
d
o
m
iz
e
d
k
e
y
s
y
n
t
h
esis
m
et
h
o
d
o
l
o
g
y
h
a
d
a
s
t
ar
ti
n
g
PDR
o
f
8
8
.
5
%
,
s
u
g
g
est
in
g
i
n
a
d
e
q
u
a
te
t
r
a
n
s
m
is
s
i
o
n
ef
f
i
ca
cy
d
u
e
t
o
la
r
g
e
p
ac
k
et
l
o
s
s
es
.
T
h
e
p
ai
r
i
n
g
k
e
y
s
g
e
n
er
ati
o
n
a
p
p
r
o
ac
h
i
m
p
r
o
v
e
d
m
a
r
g
in
all
y
,
wi
t
h
a
n
in
iti
al
PDR
o
f
a
r
o
u
n
d
9
1
%,
alt
h
o
u
g
h
it
s
t
ill
s
h
o
we
d
i
n
e
f
f
i
cie
n
c
ies
.
E
C
C
D
H
im
p
r
o
v
ed
s
i
g
n
if
i
ca
n
t
ly
f
r
o
m
a
b
o
u
t
9
2
.
2
%
t
o
9
3
.
3
%,
b
ea
tin
g
r
a
n
d
o
m
i
ze
d
an
d
p
ai
r
i
n
g
k
e
y
a
p
p
r
o
a
ch
es
b
u
t
f
a
lli
n
g
s
h
o
r
t
o
f
t
h
e
s
u
g
g
este
d
m
et
h
o
d
'
s
d
e
p
en
d
ab
ilit
y
.
T
h
e
s
u
g
g
este
d
te
ch
n
i
q
u
e
r
e
g
u
la
r
l
y
e
x
c
ell
ed
,
wit
h
a
PDR
r
an
g
i
n
g
f
r
o
m
9
5
.
3
%
t
o
9
5
.
8
%
,
r
e
p
r
es
en
ti
n
g
a
4
-
6
%
i
n
c
r
e
ase
an
d
d
em
o
n
s
t
r
at
in
g
its
a
p
p
r
o
p
r
i
at
en
ess
f
o
r
a
p
p
li
c
ati
o
n
s
th
at
ar
e
f
ast
p
r
o
c
ess
i
n
g
wit
h
l
itt
le
d
at
a
l
o
s
s
.
T
h
e
r
ad
ar
s
p
e
ct
r
u
m
m
a
p
g
r
a
p
h
ica
ll
y
il
l
u
s
tr
at
es
t
h
es
e
r
esu
l
ts
,
wit
h
th
e
s
u
g
g
este
d
te
ch
n
i
q
u
e
s
h
o
wi
n
g
o
n
t
h
e
o
u
t
er
m
o
s
t
p
o
r
t
io
n
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Un
ma
n
n
ed
a
eria
l v
eh
icle
s
ystems
:
ke
y
ma
n
a
g
eme
n
t
a
n
d
…
(
R
esh
ma
C
.
S
o
n
a
w
a
n
e)
981
h
i
g
h
li
g
h
t
its
b
e
tte
r
d
at
a
t
r
a
n
s
f
e
r
ca
p
ac
i
ty
.
E
C
C
DH
f
o
ll
o
ws
cl
o
s
e
b
e
h
i
n
d
b
y
2
-
3
%
,
b
u
t
th
e
r
a
n
d
o
m
a
n
d
p
ai
r
s
k
e
y
ap
p
r
o
ac
h
es
s
ta
y
i
n
t
h
e
d
ee
p
es
t
la
y
er
s
,
r
e
v
e
ali
n
g
th
ei
r
i
n
ef
f
i
cie
n
c
y
.
Fi
g
u
r
e
8
ill
u
s
t
r
a
tes
t
h
e
PDR
f
o
r
d
i
f
f
er
en
t
en
cr
y
p
ti
o
n
s
c
h
em
es
o
v
e
r
s
i
m
u
la
ti
o
n
ti
m
e
.
T
h
e
p
r
o
p
o
s
e
d
t
ec
h
n
iq
u
e
d
e
m
o
n
s
t
r
a
tes
th
e
h
i
g
h
est
d
eli
v
e
r
y
r
at
e
ac
r
o
s
s
a
ll
in
te
r
v
als
,
r
e
f
l
ec
t
in
g
i
ts
r
esil
ie
n
c
e
an
d
r
eli
a
b
ili
ty
.
Fig
u
r
e
8
.
PDR
f
o
r
v
ar
io
u
s
k
e
y
m
an
ag
em
e
n
t te
ch
n
iq
u
es
E
m
p
ir
ical
s
tu
d
y
c
o
n
f
ir
m
s
th
e
p
r
o
p
o
s
ed
m
eth
o
d
'
s
b
en
ef
its
,
d
em
o
n
s
tr
atin
g
a
c
o
n
s
tan
tly
elev
ated
PDR
,
wh
ich
d
ec
r
ea
s
es
p
ac
k
et
d
eg
r
ad
atio
n
an
d
r
en
d
er
s
it
p
er
f
ec
t
f
o
r
ex
tr
em
e
-
r
eliab
ilit
y
ap
p
li
ca
tio
n
s
lik
e
UAV
in
ter
ac
tio
n
,
wh
en
d
ata
lo
s
s
m
ig
h
t
ca
u
s
e
m
ajo
r
in
ter
r
u
p
ti
o
n
s
.
T
h
e
r
an
d
o
m
an
d
p
air
in
g
k
ey
ap
p
r
o
ac
h
es
ar
e
m
o
r
e
s
u
s
ce
p
tib
le
to
p
ac
k
et
l
o
s
s
,
wh
ils
t
E
C
C
DH
p
r
o
v
id
es
m
o
d
er
ate
b
en
ef
its
b
u
t
f
alls
s
h
y
o
f
o
u
r
p
r
o
p
o
s
al.
T
h
ese
f
in
d
in
g
s
h
av
e
s
ig
n
if
ic
an
t
im
p
licatio
n
s
f
o
r
d
ev
elo
p
i
n
g
d
ep
e
n
d
ab
le
s
y
s
tem
s
o
f
co
m
m
u
n
icatio
n
.
T
h
e
p
r
o
v
id
e
d
m
eth
o
d
'
s
b
etter
PDR
,
wh
en
p
air
e
d
with
a
n
ad
a
p
tab
le
p
ac
k
et
-
b
ased
r
eiss
u
e
m
ec
h
an
is
m
,
r
e
d
u
ce
s
r
etr
an
s
m
is
s
io
n
s
,
im
p
r
o
v
es
co
m
m
u
n
icatio
n
e
f
f
icien
cy
,
a
n
d
a
s
s
u
r
es
ef
f
ec
tiv
e
in
f
o
r
m
atio
n
d
eliv
er
y
.
T
h
is
m
ak
es
it
id
ea
l
f
o
r
s
en
s
itiv
e
ap
p
licatio
n
s
s
u
ch
as
UAVs
an
d
I
o
T
d
ev
ices.
Ov
er
all,
th
e
an
aly
s
is
s
h
o
ws
th
at
th
e
s
u
g
g
ested
s
tr
ateg
y
im
p
r
o
v
es
PDR
b
y
4
-
6
%
co
m
p
ar
ed
to
o
t
h
er
way
s
,
m
ak
in
g
it
th
e
b
est
o
p
tio
n
f
o
r
im
p
r
o
v
in
g
th
e
ef
f
ec
tiv
en
ess
o
f
im
m
e
d
iate,
h
ig
h
-
r
eliab
ilit
y
n
etwo
r
k
i
n
ter
ac
tio
n
s
.
T
ab
le
4
d
is
p
lay
s
th
e
m
ed
ian
th
r
o
u
g
h
p
u
t
f
ig
u
r
es f
o
r
f
o
u
r
k
e
y
ad
m
in
is
tr
a
tio
n
p
lan
s
: r
an
d
o
m
k
e
y
[
2
4
]
,
p
air
in
g
k
ey
[
2
5
]
,
alo
n
g
with
E
C
C
DH
[
2
6
]
,
as we
ll
as
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
.
T
h
e
in
f
o
r
m
atio
n
is
tak
en
at
f
o
u
r
d
if
f
er
en
t
tim
e
in
ter
v
als:
5
,
1
0
,
15
,
an
d
2
0
s
ec
o
n
d
s
.
T
h
r
o
u
g
h
p
u
t,
ex
p
r
ess
ed
as
bps
,
is
s
o
m
e
d
ata
s
u
cc
ess
f
u
lly
tr
an
s
m
itted
f
r
o
m
th
e
em
itter
to
th
e
r
ec
ip
ien
t
in
a
p
ar
ticu
lar
len
g
t
h
o
f
tim
e
.
T
ab
le
4
.
T
h
r
o
u
g
h
p
u
t (
b
p
s
)
ac
h
iev
ed
with
th
e
p
r
o
p
o
s
ed
s
y
s
tem
Ti
me
(
sec
o
n
d
s)
R
a
n
d
o
m
ke
y
[
2
4
]
P
a
i
r
w
i
se
k
e
y
[
2
5
]
EC
C
D
H
[
2
6
]
P
r
o
p
o
se
d
m
e
t
h
o
d
5
0
.
8
0
.
8
3
0
.
7
5
0
.
8
8
10
0
.
9
0
.
7
4
0
.
7
8
0
.
9
2
15
0
.
8
5
0
.
8
0
.
7
9
0
.
9
3
20
0
.
8
8
0
.
7
9
0
.
8
1
0
.
9
4
T
h
r
o
u
g
h
p
u
t
is
an
im
p
o
r
tan
t
s
tatis
tic
f
o
r
m
ea
s
u
r
in
g
th
e
tr
a
n
s
f
er
o
f
in
f
o
r
m
atio
n
ef
f
ec
tiv
en
e
s
s
with
in
co
m
m
u
n
icatio
n
s
y
s
tem
s
,
esp
ec
ially
in
ap
p
licatio
n
s
th
at
n
ee
d
f
ast
s
p
ee
d
s
an
d
d
ep
e
n
d
ab
le
tr
an
s
f
er
o
f
in
f
o
r
m
atio
n
,
lik
e
wir
eless
n
et
wo
r
k
s
f
o
r
UAV
in
ter
ac
tio
n
s
an
d
I
o
T
s
ettin
g
s
.
E
n
s
u
r
in
g
a
d
eq
u
ate
th
r
o
u
g
h
p
u
t
wh
ils
t
b
alan
cin
g
en
er
g
y
u
s
ag
e
an
d
av
o
id
in
g
n
etwo
r
k
co
n
g
es
tio
n
p
r
esen
ts
s
ig
n
if
ican
t
p
r
o
b
l
em
s
,
p
ar
ticu
lar
ly
in
ar
ea
s
with
s
ig
n
if
ican
t
tr
af
f
ic.
T
o
o
v
er
c
o
m
e
th
ese
is
s
u
es,
th
e
s
u
g
g
ested
tech
n
iq
u
e
in
clu
d
es
an
ev
o
lv
i
n
g
th
r
o
u
g
h
p
u
t
m
a
n
ag
em
e
n
t
m
e
ch
an
is
m
.
T
h
is
m
eth
o
d
o
p
ti
m
izes
en
er
g
y
co
n
s
u
m
p
tio
n
wh
ile
im
p
r
o
v
in
g
th
r
o
u
g
h
p
u
t,
ass
u
r
in
g
th
e
r
eliab
ilit
y
o
f
th
e
s
y
s
tem
ev
e
n
d
u
r
i
n
g
h
ig
h
-
v
o
lu
m
e
d
ata
tr
an
s
f
er
.
T
h
e
r
an
d
o
m
k
ey
s
p
r
o
d
u
ctio
n
tec
h
n
iq
u
e
b
e
g
in
s
with
an
in
itial
th
r
o
u
g
h
p
u
t
o
f
ar
o
u
n
d
0
.
8
bps
,
tem
p
o
r
a
r
ily
ju
m
p
in
g
to
0
.
9
f
o
llo
win
g
1
0
s
ec
o
n
d
s
b
ef
o
r
e
g
r
ad
u
ally
d
ec
r
ea
s
in
g
,
in
d
icatin
g
in
ad
eq
u
ate
r
eliab
ilit
y
o
v
er
ti
m
e.
I
n
co
m
p
a
r
is
o
n
,
th
e
p
air
in
g
k
e
y
ap
p
r
o
ac
h
f
lu
ctu
ates,
b
eg
in
n
i
n
g
at
0
.
8
3
bps
at
5
s
ec
o
n
d
s
an
d
d
r
o
p
p
in
g
to
0
.
7
4
in
1
0
s
ec
o
n
d
s
,
i
n
d
icatin
g
in
ef
f
icien
cies
o
v
er
lo
n
g
d
u
r
atio
n
s
.
Me
an
wh
ile,
E
C
C
DH
s
h
o
ws
a
m
o
d
est
an
d
co
n
s
tan
t
im
p
r
o
v
em
e
n
t,
b
eg
in
n
in
g
at
0
.
7
5
bps
an
d
r
ea
ch
i
n
g
0
.
8
1
at
2
0
s
ec
o
n
d
s
,
s
h
o
win
g
r
ea
s
o
n
a
b
le
b
u
t
lim
ited
d
ep
e
n
d
ab
ilit
y
.
C
o
n
v
er
s
ely
,
th
e
s
u
g
g
ested
tech
n
iq
u
e
co
n
tin
u
o
u
s
ly
o
u
tp
er
f
o
r
m
s
c
o
n
v
en
tio
n
al
s
tr
ateg
ies,
s
tar
tin
g
with
an
av
er
ag
e
t
h
r
o
u
g
h
p
u
t
o
f
0
.
8
8
b
p
s
at
5
s
ec
o
n
d
s
an
d
r
ap
id
ly
i
n
cr
ea
s
in
g
to
0
.
9
4
b
y
20
s
ec
o
n
d
s
,
5
88.
5
91
92.
2
95.
5
10
89
90.
5
92.
8
95.
8
15
89.
7
91.
2
93
95.
3
20
90
91.
8
93.
3
95.
7
0
20
40
60
80
100
T
im
e
(
s
e
c
onds
)
R
andom
Key
[
2
4]
P
a
i
r
wis
e
K
e
y
[
25]
E
C
C
D
H
[
26]
P
r
op
os
ed
M
e
t
ho
d
S
e
r
ies
1
S
e
r
ies
2
S
e
r
ies
3
S
e
r
ies
4
Evaluation Warning : The document was created with Spire.PDF for Python.