Autonomous systems (ASs) often cooperate to ensure safe navigation. Embedded within the centralized or distributed coordination mechanisms are a set of observations, unobservable states, and control variables. Security of data transfer between ASs is crucial for safety, and both cryptography and physical layer security (PLS) methods have been used to secure communication surfaces—each with its drawbacks and dependencies.

中文翻译：

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控制层安全：协作自治系统的新安全范式

自治系统（AS）经常合作以确保安全导航。嵌入在集中式或分布式协调机制中的是一组观测值、不可观测状态和控制变量。AS 之间数据传输的安全性对于安全至关重要，加密和物理层安全 (PLS) 方法都已用于保护通信表面，每种方法都有其缺点和依赖性。