{"id":"https://openalex.org/W7225796676","doi":"https://doi.org/10.21203/rs.3.rs-11375683/v1","title":"HGRL-ATN: a hierarchical graph reinforcement learning framework for trustworthy UAV navigation under GPS spoofing attacks","display_name":"HGRL-ATN: a hierarchical graph reinforcement learning framework for trustworthy UAV navigation under GPS spoofing attacks","publication_year":2026,"publication_date":"2026-11-11","ids":{"openalex":"https://openalex.org/W7225796676","doi":"https://doi.org/10.21203/rs.3.rs-11375683/v1"},"language":"en","primary_location":{"id":"doi:10.21203/rs.3.rs-11375683/v1","doi":"https://doi.org/10.21203/rs.3.rs-11375683/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11375683/v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.21203/rs.3.rs-11375683/v1","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5146833556","display_name":"Kiran Kumar Eepuri","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I875944469","display_name":"Koneru Lakshmaiah Education Foundation","ror":"https://ror.org/02k949197","country_code":"IN","type":"education","lineage":["https://openalex.org/I875944469"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kiran Kumar Eepuri","raw_affiliation_strings":["Koneru Lakshmaiah Education Foundation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Koneru Lakshmaiah Education Foundation","institution_ids":["https://openalex.org/I875944469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161463747","display_name":"Rajasekhar Konari","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rajasekhar Konari","raw_affiliation_strings":["Nadimpalli Satyanarayana Raju Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nadimpalli Satyanarayana Raju Institute of Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051204059","display_name":"Sivavara Prasad J","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sivavara Prasad J","raw_affiliation_strings":["Lakireddy Bali Reddy College of Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lakireddy Bali Reddy College of Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161468753","display_name":"Naishadh Vytla","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I875944469","display_name":"Koneru Lakshmaiah Education Foundation","ror":"https://ror.org/02k949197","country_code":"IN","type":"education","lineage":["https://openalex.org/I875944469"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Naishadh Vytla","raw_affiliation_strings":["Koneru Lakshmaiah Education Foundation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Koneru Lakshmaiah Education Foundation","institution_ids":["https://openalex.org/I875944469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161488194","display_name":"Hasane Ahammad Sk","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I875944469","display_name":"Koneru Lakshmaiah Education Foundation","ror":"https://ror.org/02k949197","country_code":"IN","type":"education","lineage":["https://openalex.org/I875944469"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Hasane Ahammad Sk","raw_affiliation_strings":["Koneru Lakshmaiah Education Foundation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Koneru Lakshmaiah Education Foundation","institution_ids":["https://openalex.org/I875944469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066791212","display_name":"Mustafa SirElkhatim","orcid":"https://orcid.org/0009-0000-7678-0224","observed_orcids":["https://orcid.org/0009-0000-7678-0224"]},"institutions":[{"id":"https://openalex.org/I4405276881","display_name":"Red Sea University","ror":"https://ror.org/00mppg773","country_code":"SO","type":"education","lineage":["https://openalex.org/I4405276881"]},{"id":"https://openalex.org/I90097577","display_name":"Red Sea University","ror":"https://ror.org/04k46b490","country_code":"SD","type":"education","lineage":["https://openalex.org/I90097577"]}],"countries":["SD","SO"],"is_corresponding":false,"raw_author_name":"Mustafa SirElkhatim","raw_affiliation_strings":["Red Sea University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Red Sea University","institution_ids":["https://openalex.org/I4405276881","https://openalex.org/I90097577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5098532597","display_name":"Wallaaldin Abass Eltayeb","orcid":"https://orcid.org/0000-0001-5400-9455","observed_orcids":["https://orcid.org/0000-0001-5400-9455"]},"institutions":[{"id":"https://openalex.org/I875944469","display_name":"Koneru Lakshmaiah Education Foundation","ror":"https://ror.org/02k949197","country_code":"IN","type":"education","lineage":["https://openalex.org/I875944469"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Wallaaldin Eltayeb","raw_affiliation_strings":["Koneru Lakshmaiah Education Foundation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Koneru Lakshmaiah Education Foundation","institution_ids":["https://openalex.org/I875944469"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.4108999967575073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.4108999967575073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.20389999449253082,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.1647000014781952,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7767999768257141},{"id":"https://openalex.org/C167900197","wikidata":"https://www.wikidata.org/wiki/Q11081100","display_name":"Spoofing attack","level":2,"score":0.7350000143051147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103999853134155},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5364000201225281},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5238999724388123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5185999870300293},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49390000104904175},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4722000062465668},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4205000102519989},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3716000020503998},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3610999882221222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3019999861717224},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3012000024318695},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.29829999804496765},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.26669999957084656},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C2776104089","wikidata":"https://www.wikidata.org/wiki/Q15894079","display_name":"Location awareness","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21203/rs.3.rs-11375683/v1","doi":"https://doi.org/10.21203/rs.3.rs-11375683/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11375683/v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.21203/rs.3.rs-11375683/v1","doi":"https://doi.org/10.21203/rs.3.rs-11375683/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11375683/v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"that":[5,21,60,71,128,191],"rely":[6],"on":[7,155],"the":[8,57,160,198],"Global":[9],"Positioning":[10],"System":[11],"(GPS)":[12],"for":[13,90,186],"localization":[14],"are":[15,95,197],"increasingly":[16],"exposed":[17],"to":[18,49,115,149],"spoofing":[19,114],"attacks":[20],"induce":[22],"large":[23],"positional":[24],"deviations":[25],"and":[26,39,53,80,102,125,163,177,194,201],"mission":[27],"failure.":[28],"Established":[29],"defense":[30],"model-based":[31],"estimators,":[32],"Extended":[33],"Kalman":[34],"Filter":[35],"(EKF)":[36],"sensor":[37,63,75],"fusion,":[38,76],"standard":[40],"deep":[41],"reinforcement":[42,82],"learning":[43,83],"(DRL)-are":[44],"largely":[45],"reactive,":[46],"generalize":[47],"poorly":[48],"unseen":[50],"attack":[51],"patterns,":[52],"do":[54],"not":[55],"model":[56],"relational":[58],"structure":[59],"links":[61],"heterogeneous":[62],"modalities.":[64],"This":[65],"paper":[66],"presents":[67],"HGRL-ATN,":[68],"a":[69,86,100,105,133,156,168,178],"framework":[70],"couples":[72],"graph-neural-network":[73],"(GNN)":[74],"variational":[77,120],"trust":[78,124,195],"estimation,":[79],"hierarchical":[81],"(HRL)":[84],"into":[85],"single":[87],"end-to-end":[88],"pipeline":[89],"secure":[91],"UAV":[92,158],"navigation.":[93],"Sensors":[94],"represented":[96],"as":[97],"nodes":[98],"of":[99,171,175,182],"graph":[101,106,192],"fused":[103],"by":[104,113],"attention":[107],"network,":[108],"allowing":[109],"cross-modal":[110],"inconsistencies":[111],"induced":[112],"be":[116],"detected":[117],"relationally.":[118],"A":[119,143],"module":[121,145],"assigns":[122],"per-sensor":[123],"uncertainty":[126],"scores":[127],"down-weight":[129],"compromised":[130],"inputs,":[131],"while":[132],"two-level":[134],"policy":[135],"separates":[136],"navigation":[137,179],"strategy":[138],"selection":[139],"from":[140],"continuous":[141],"control.":[142],"digital-twin":[144],"predicts":[146],"next-state":[147],"dynamics":[148],"support":[150],"anticipatory":[151],"decision":[152],"making.":[153],"Evaluated":[154],"synthetic":[157],"dataset,":[159],"VeReMi":[161],"benchmark,":[162],"CARLA-generated":[164],"scenarios,":[165],"HGRL-ATN":[166],"attains":[167],"detection":[169],"accuracy":[170],"97.0\\%,":[172],"an":[173],"F1-score":[174],"0.965,":[176],"success":[180],"rate":[181],"94.8\\%,":[183],"against":[184],"82.3\\%--90.4\\%":[185],"representative":[187],"baselines.":[188],"Ablation":[189],"confirms":[190],"fusion":[193],"estimation":[196],"dominant":[199],"contributors,":[200],"trajectory":[202],"analysis":[203],"shows":[204],"substantially":[205],"reduced":[206],"path":[207],"deviation":[208],"under":[209],"active":[210],"spoofing.":[211]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-12T00:00:00"}