The capacity for autonomous functionality serves as the fundamental ability and driving force for the cross-generational upgrading of unmanned aerial vehicles (UAVs). With the disruptive transformation of artificial intelligence technology, autonomous trajectory planning based on intelligent algorithms has emerged as a key technique for enhancing UAVs’ capacity for autonomous behavior, thus holding significant research value. To address the challenges of UAV trajectory planning in complex 3D environments, this paper proposes a multi-UAV cooperative trajectory-planning method based on a Modified Cheetah Optimization (MCO) algorithm. Firstly, a spatiotemporal cooperative trajectory planning model is established, incorporating UAV-cooperative constraints and performance constraints. Evaluation criteria, including fuel consumption, altitude, and threat distribution field cost functions, are introduced. Then, based on its parent Cheetah Optimization (CO) algorithm, the MCO algorithm incorporates a logistic chaotic mapping strategy and an adaptive search agent strategy, thereby improving the home-returning mechanism. Finally, extensive simulation experiments are conducted using a considerably large test dataset containing functions with the following four characteristics: unimodal, multimodal, separable, and inseparable. Meanwhile, a strategy for dimensionality reduction searching is employed to solve the problem of autonomous trajectory planning in real-world scenarios. The results of a conducted simulation demonstrate that the MCO algorithm outperforms several other related algorithms, showcasing smaller trajectory costs, a faster convergence speed, and stabler performance. The proposed algorithm exhibits a certain degree of correctness, effectiveness, and advancement in solving the problem of multi-UAV cooperative trajectory planning.

Machine learning has been applied in continuous-variable quantum key distribution (CVQKD) systems to address the growing threat of quantum hacking attacks. However, the use of machine learning algorithms for detecting these attacks has uncovered a vulnerability to adversarial disturbances that can compromise security. By subtly perturbing the detection networks used in CVQKD, significant misclassifications can occur. To address this issue, we utilize an adversarial sample defense method based on non-negative matrix factorization (NMF), considering the nonlinearity and high-dimensional nature of CVQKD data. Specifically, we employ the Kernel Robust Manifold Non-negative Matrix Factorization (KRMNMF) algorithm to reconstruct input samples, reducing the impact of adversarial perturbations. Firstly, we extract attack features against CVQKD by considering the adversary known as Eve. Then, we design an Artificial Neural Network (ANN) detection model to identify these attacks. Next, we introduce adversarial perturbations into the data generated by Eve. Finally, we use the KRMNMF decomposition to extract features from CVQKD data and mitigate the influence of adversarial perturbations through reconstruction. Experimental results demonstrate that the application of KRMNMF can effectively defend against adversarial attacks to a certain extent. The accuracy of KRMNMF surpasses the commonly used Comdefend method by 32.2% and the JPEG method by 30.8%. Moreover, it exhibits an improvement of 20.8% compared to NMF and outperforms other NMF-related algorithms in terms of classification accuracy. Moreover, it can complement other defense strategies, thus enhancing the overall defensive capabilities of CVQKD systems.