{"id":"https://openalex.org/W4400072132","doi":"https://doi.org/10.1109/access.2024.3419800","title":"Trojan Attack and Defense for Deep Learning-Based Navigation Systems of Unmanned Aerial Vehicles","display_name":"Trojan Attack and Defense for Deep Learning-Based Navigation Systems of Unmanned Aerial Vehicles","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400072132","doi":"https://doi.org/10.1109/access.2024.3419800"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3419800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419800","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3419800","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088956116","display_name":"Mohammed Mynuddin","orcid":"https://orcid.org/0000-0001-7898-5485"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohammed Mynuddin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":"https://orcid.org/0000-0001-7898-5485","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033835553","display_name":"Sultan Uddin Khan","orcid":"https://orcid.org/0009-0002-2171-7177"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sultan Uddin Khan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":"https://orcid.org/0009-0002-2171-7177","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084571605","display_name":"Reza Ahmari","orcid":null},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza Ahmari","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":"https://orcid.org/0009-0001-2792-5033","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099584865","display_name":"Luis Landivar","orcid":null},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Landivar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018554930","display_name":"Mahmoud Nabil","orcid":"https://orcid.org/0000-0003-3059-7912"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahmoud Nabil Mahmoud","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":"https://orcid.org/0000-0003-3059-7912","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054416654","display_name":"Abdollah Homaifar","orcid":"https://orcid.org/0000-0003-1179-3221"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdollah Homaifar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA"],"raw_orcid":"https://orcid.org/0000-0003-1179-3221","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088956116"],"corresponding_institution_ids":["https://openalex.org/I35777872"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":7.3311,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.97534757,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"12","issue":null,"first_page":"89887","last_page":"89907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11241","display_name":"Advanced Malware Detection Techniques","score":0.9643999934196472,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9203000068664551,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trojan","display_name":"Trojan","score":0.8584566116333008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.740617573261261},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7055318355560303},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.6501590609550476},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.48510634899139404},{"id":"https://openalex.org/keywords/threat-model","display_name":"Threat model","score":0.4213913679122925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32045695185661316}],"concepts":[{"id":"https://openalex.org/C174333608","wikidata":"https://www.wikidata.org/wiki/Q19635","display_name":"Trojan","level":2,"score":0.8584566116333008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.740617573261261},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7055318355560303},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.6501590609550476},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.48510634899139404},{"id":"https://openalex.org/C140547941","wikidata":"https://www.wikidata.org/wiki/Q7797194","display_name":"Threat model","level":2,"score":0.4213913679122925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32045695185661316},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3419800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419800","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:99429e9c783a4888b9ea4b702febea03","is_oa":true,"landing_page_url":"https://doaj.org/article/99429e9c783a4888b9ea4b702febea03","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 89887-89907 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3419800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419800","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4970973757","display_name":null,"funder_award_id":"2301553","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6168030749","display_name":null,"funder_award_id":"80NSSC20M0161","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W9657784","https://openalex.org/W1686810756","https://openalex.org/W1921864689","https://openalex.org/W2113886060","https://openalex.org/W2183341477","https://openalex.org/W2243397390","https://openalex.org/W2543927648","https://openalex.org/W2601260651","https://openalex.org/W2611814963","https://openalex.org/W2618530766","https://openalex.org/W2748789698","https://openalex.org/W2753783305","https://openalex.org/W2788239209","https://openalex.org/W2808102992","https://openalex.org/W2897865027","https://openalex.org/W2912093940","https://openalex.org/W2934843808","https://openalex.org/W2942091739","https://openalex.org/W2971661634","https://openalex.org/W2982083293","https://openalex.org/W2983056308","https://openalex.org/W2990270730","https://openalex.org/W3010968977","https://openalex.org/W3041133507","https://openalex.org/W3045898871","https://openalex.org/W3048295601","https://openalex.org/W3048636285","https://openalex.org/W3089909248","https://openalex.org/W3090837869","https://openalex.org/W3092407777","https://openalex.org/W3103836116","https://openalex.org/W3106616721","https://openalex.org/W3112001526","https://openalex.org/W3113133901","https://openalex.org/W3114686421","https://openalex.org/W3119367492","https://openalex.org/W3168482278","https://openalex.org/W3190013336","https://openalex.org/W3196302005","https://openalex.org/W3196523899","https://openalex.org/W3209552014","https://openalex.org/W4221138784","https://openalex.org/W4254887446","https://openalex.org/W4292387498","https://openalex.org/W4295832432","https://openalex.org/W4307371716","https://openalex.org/W4308075636","https://openalex.org/W4313413234","https://openalex.org/W4362714293","https://openalex.org/W4363673306","https://openalex.org/W4367042882","https://openalex.org/W4384915016","https://openalex.org/W4385356567","https://openalex.org/W4385727936","https://openalex.org/W4386214319","https://openalex.org/W4388193248","https://openalex.org/W4390497651","https://openalex.org/W4391843476","https://openalex.org/W6637373629","https://openalex.org/W6743581629","https://openalex.org/W6752600739","https://openalex.org/W6774802080","https://openalex.org/W6787626716","https://openalex.org/W6860503420","https://openalex.org/W6904100427","https://openalex.org/W6927148098"],"related_works":["https://openalex.org/W4253721122","https://openalex.org/W1671033612","https://openalex.org/W4389527383","https://openalex.org/W4322731571","https://openalex.org/W1929087753","https://openalex.org/W2908579827","https://openalex.org/W4400055136","https://openalex.org/W2886023993","https://openalex.org/W3185781018","https://openalex.org/W2113607124"],"abstract_inverted_index":{"As":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"become":[5],"increasingly":[6],"integrated":[7],"across":[8],"various":[9,126],"domains,":[10],"both":[11],"military":[12],"and":[13,63,96,112,131,158,168,189,202,219,245,273],"civilian,":[14],"safeguarding":[15],"the":[16,25,28,48,94,114,135,143,146,166,177,183,196,199,204,207,217,229,232,256,268,285,288],"security":[17,64,220,292],"of":[18,30,41,98,116,134,145,179,198,206,221,231,271],"their":[19,160],"navigation":[20,100,110,222],"systems":[21,111,119,223],"becomes":[22],"paramount.":[23],"In":[24],"contemporary":[26],"age,":[27],"prominence":[29],"cybersecurity":[31,53],"for":[32,73,129,151,172,252,290],"UAVs":[33,57],"has":[34],"grown":[35],"due":[36,58],"to":[37,59,83,141,164,215,261],"a":[38,242],"rising":[39],"number":[40],"cyberattacks":[42],"on":[43,182],"these":[44,79,118,225],"systems.":[45,101],"Notably,":[46],"over":[47],"past":[49],"decade,":[50],"several":[51],"significant":[52],"breaches":[54],"have":[55,240],"impacted":[56],"inadequate":[60],"vulnerability":[61],"assessments":[62],"measures.":[65,293],"Deep":[66],"learning":[67,148],"(DL)-based":[68],"algorithms":[69,80],"show":[70],"immense":[71],"potential":[72,105,156,169,282],"enabling":[74],"autonomous":[75],"UAV":[76,99,109,152],"navigation.":[77,153],"However,":[78],"are":[81],"susceptible":[82],"malicious":[84,173],"attacks,":[85,90,264],"such":[86],"as":[87,265],"DL-based":[88,108,121,262],"Trojan":[89,122,180,243,249,263,278],"which":[91],"can":[92],"compromise":[93],"integrity":[95],"reliability":[97],"This":[102],"paper":[103],"addresses":[104],"vulnerabilities":[106],"in":[107],"emphasizes":[113],"importance":[115],"securing":[117],"against":[120,224],"attacks.":[123,226],"We":[124,175],"design":[125],"trigger":[127],"patterns":[128],"collision":[130,188,272],"steering":[132,190,274],"angle":[133,191,275],"DroNet":[136,184,208,248,257],"model":[137,185,234,258],"incorporating":[138],"adversarial":[139],"inputs":[140],"test":[142],"robustness":[144,218],"deep":[147],"algorithm":[149],"used":[150],"By":[154],"simulating":[155],"attacks":[157,181],"studying":[159],"effects,":[161],"we":[162,194,211,239],"aim":[163],"highlight":[165],"weaknesses":[167],"entry":[170],"points":[171],"interference.":[174],"assess":[176],"effectiveness":[178],"using":[186],"poisoned":[187],"datasets.":[192],"Subsequently,":[193],"regulate":[195],"intensity":[197],"designed":[200],"triggers":[201],"evaluate":[203],"performance":[205],"architecture.":[209],"Additionally,":[210],"propose":[212],"mitigation":[213],"strategies":[214],"enhance":[216],"To":[227],"identify":[228],"likelihood":[230],"trained":[233],"being":[235],"trojaned":[236],"or":[237],"not,":[238],"developed":[241],"detector":[244,279],"created":[246],"distinct":[247],"Model":[250],"Datasets":[251],"this":[253],"purpose.":[254],"That":[255],"is":[259],"vulnerable":[260],"evidenced":[266],"by":[267],"successful":[269],"manipulation":[270],"predictions.":[276],"The":[277],"effectively":[280],"identifies":[281],"compromises":[283],"within":[284],"model,":[286],"highlighting":[287],"necessity":[289],"enhanced":[291]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-10-10T00:00:00"}