As Multi-UAV systems are still in early design stages, threat modeling can play a crucial role in attaining the “secure by design” notion in such complex cyber-physical systems (CPS). In this paper, we employ a threat modeling methodology, known as threat trees to analyze and enumerate threats impacting the Internet of Drones (IoD) architecture. The proposed threat tree is meant to provide a holistic perspective of threats impacting an IoD system.

中文翻译：

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多无人机系统的威胁建模

由于Multi-UAV系统仍处于早期设计阶段，因此在这种复杂的网络物理系统（CPS）中，威胁建模可以在实现“设计安全”概念中发挥关键作用。在本文中，我们采用一种称为威胁树的威胁建模方法来分析和枚举影响无人机互联网（IoD）架构的威胁。提议的威胁树旨在提供影响IoD系统的威胁的整体视角。