Network failures, whether due to random disruptions or malicious attacks, pose significant challenges for uncrewed aerial vehicle (UAV) swarm networks. One critical concern is determining which failed UAVs to recover or replace under limited resource conditions to enhance the robustness of their communication networks. Current research primarily considers static structural characteristics of the network and struggles to uncover deep features that influence network robustness, and the efficiency cannot meet the real-time needs in UAV swarm scenarios. To address these issues, we introduce a Prioritized Recovery strategy for failed nodes based on graph reinforcement learning (PRGRL). This approach integrates a random SAmpling neighbor method with a multihead attention mechanism to create a novel graph convolutional kernel (SAGCK). This kernel is designed to extract global structural information and relative positional information of nodes within the graph. Additionally, we develop a deep policy network (DPN) that explores the intricate relationships between graph-level and node embedding features, enabling the assessment of nodes’ impact on overall robustness. PRGRL’s network parameters are automatically updated and optimized using scalable deep reinforcement learning. Importantly, PRGRL prioritizes the recovery of boundary nodes within connected components to enhance network robustness further. Our experiments, conducted on both simulated and real-world networks, demonstrate that PRGRL outperforms existing methods of robustness enhancement across various recovery ratios, attack strategies, and network sizes while delivering superior real-time performance.

The robustness of Internet of Things (IoT) communication topologies against internal failures and external perturbations is a fundamental prerequisite for maintaining system stability. This paper studies IoT topology robustness from two perspectives: robustness metric and optimization. Existing robustness metrics, primarily based on the maximum connected subgraph, neglect contributions from other connected subgraphs, thereby inadequately capturing dynamic topological changes. To address this issue, we propose a robustness metric based on topology data reachability, which sensitively reflects the data transmission capability of an IoT topology under arbitrary perturbations. Regarding robustness optimization, most existing methods adopt centralized strategies that rely on global information, resulting in inefficiencies and limited adaptability in decentralized IoT environments. We propose DecTRO, a Decentralized Topology Robustness Optimization method for IoT via multi-agent graph reinforcement learning. To mitigate partial observability, DecTRO employs a scalable graph attention network enhanced with multi-modal sampling, which aggregates cross-agent information and captures spatiotemporal correlations. Furthermore, a topology robustness-oriented node sampling method is introduced to reduce action-space complexity and accelerate convergence, while a decentralized heuristic reward function enables efficient online decentralized learning. Experimental results show that DecTRO achieves up to two orders of magnitude (5–125×) greater improvement in robustness per unit time compared with state-of-the-art baselines, striking a favorable balance between robustness enhancement and computational efficiency.

Automotive sensors operating in complex environments face both random disturbances (e.g., object occlusion, adverse weather) and deliberate attacks such as Global Navigation Satellite System (GNSS) spoofing. Traditional localization methods primarily address inherent errors and observation biases caused by random disturbances, but they struggle to effectively counter covert GNSS spoofing simultaneously. To resolve safety challenges from both random disturbances and covert GNSS spoofing attacks in vehicular localization, a resilient localization method for onboard heterogeneous sensors in complex environments is proposed. Firstly, a resilient fusion localization architecture based on onboard heterogeneous sensors is established. Subsequently, building upon this framework, a dynamic optimization method for Kalman filter noise matrices is designed based on an improved Deep Deterministic Policy Gradient (DDPG) algorithm. The approach achieves real-time awareness of random disturbances and enables dynamic correction of noise matrices. Simultaneously, a multi-dimensional localization error quantification metric encompassing spatial and temporal dimensions is established, and a resilient fusion methodology for heterogeneous sensors is proposed. The ablation experiment results show that under random disturbance and covert GNSS spoofing attacks, the localization error of the proposed method is reduced by 12% and 75%, respectively. Meanwhile, comparative experiments with multiple methods validate the effectiveness and superiority of the proposed method.

Graph neural networks (GNNs) are highly effective on relational data, yet their performance degrades sharply when graph topology is poisoned before training. Existing defenses usually assume a fixed attack pattern and a fixed graph structure, which makes them brittle when the poisoned graph changes across attacks, perturbation budgets, or deployment conditions. We propose GADD, a game-inspired adversarial distillation framework for robust graph defense. GADD first constructs multiple positive and negative graph views through a homophily-aware graph sampling scheme, allowing the model to learn from both purified and high-risk subgraphs. It then trains a heterogeneous group of student GNNs online, where each student receives global class-distribution knowledge from its peers and local structural knowledge through an adversarial cyclic distillation objective. Finally, GADD replaces uniform ensembling with an entropy-regularized adaptive aggregation rule that assigns graph-adaptive weights according to confidence and inter-model agreement. On Cora, CiteSeer, and PubMed, GADD consistently improves robustness against both Meta and Nettack attacks while preserving clean accuracy. Under the strongest Meta and Nettack settings in the main benchmark, GADD improves the best competing baseline by up to 2.99 and 3.42 percentage points, respectively. Additional ablations show that graph sampling, adversarial distillation, and adaptive aggregation all contribute materially to the final robustness gains.