FALCON: A Cyber-Physical Benchmark Dataset for Intrusion Detection in UAV Swarms
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FALCON is a cyber-physical co-simulation dataset for intrusion detection in UAV swarms. It combines ArduPilot SITL flight telemetry and ns-3 network traces over 144 simulation runs, with six classes (Normal and five attacks: BatterySpoofing, GPSSpoofing, HeartbeatFlood, MissionInjection, SpeedManipulation), swarms of 10, 30 and 50 UAVs, three speeds and three attacker ratios. This release provides the feature table used in the associated paper (2,427 windows of 30 s, 74 features plus metadata) and a data dictionary.
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Zenodo创建时间：
2026-10-29
