swarm-house/docs/05-network-security.md

05 — Network & security

Zero trust, fully air-gapped, everything provisioned before wheels-up.

Decision: ADR-0005 — WireGuard beneath SSH.

Trust model

• Nothing joins the swarm at runtime. Every device receives its identity (key pair + certificate) during ground provisioning, signed by the fleet's offline CA. There is no trust-on-first-use, no runtime enrollment endpoint, no exception path.
• Network position grants nothing. Being inside the mesh does not authorize anything; every connection authenticates mutually.
• Two layers of cryptography, by design:
  1. WireGuard mesh overlay — every drone holds the public keys of every fleet member (distributed at provisioning). All swarm traffic runs inside these tunnels; a device without a provisioned key cannot even complete a handshake.
  2. Authenticated channels inside the overlay — the bulk-sync and peer-query channel is SSH with ed25519 keys and pinned known_hosts (no first-use prompts, no runtime key acceptance); every permitted operation is a separate key pair bound to a forced command, so a stolen key authorizes exactly one narrow action. Services that speak TLS (MinIO, ground APIs) present per-service certificates from the fleet PKI (mTLS). Compromising the network layer alone still yields nothing readable — and compromising one credential yields one operation, not a shell.

graph TB
    subgraph ground [Ground provisioning, before deployment]
        CA["offline fleet CA"]
        PROV["provisioning station"]
        CA -->|"sign device + service certs"| PROV
    end
    subgraph mesh [In-flight ad-hoc mesh]
        A["drone A<br/>wg key + certs"]
        B["drone B<br/>wg key + certs"]
        C["drone C<br/>wg key + certs"]
        A <-->|"WireGuard + mTLS"| B
        B <-->|"WireGuard + mTLS"| C
        A <-->|"WireGuard + mTLS"| C
    end
    PROV -->|"per-device identity, peer list"| A
    PROV --> B
    PROV --> C

Radio reality

• Transport is assumed to be ad-hoc Wi-Fi class (2.4/5 GHz), with channel hopping expected. The platform treats the link as lossy, variable, and adversarial — all sync mechanisms already tolerate partitions (04).
• RSSI is data. Per-peer signal strength is captured into telemetry like any other sensor — it feeds relative-positioning estimates and post-flight link-quality analysis, and it is free.
• Electromagnetic environment sensing (whatever the radio can observe) is likewise recorded — cheap in flight, valuable in replay.

Why not SSH alone?

SSH and WireGuard solve different problems. SSH is the authorization layer for narrow, point-to-point operations (bulk sync, read-only SQL). WireGuard is the membership and transport encryption layer for everything on the mesh, including traffic SSH cannot carry.

Concern	SSH alone	WireGuard + SSH (this design)
Pose broadcast (UDP, ~5 Hz, compact frame)	Cannot carry subnet broadcast; would need a separate app protocol	Encrypted inside the mesh overlay; any peer on the tunnel can receive
Broadcast confidentiality without WG	Payloads traverse the radio in cleartext — any receiver in range reads swarm positions	Only provisioned fleet members complete a handshake; outsiders see noise
Lossy ad-hoc links	TCP head-of-line blocking; sessions stall and reconnect on packet loss	UDP transport survives loss and roaming; SSH sessions over WG are more stable than SSH directly on Wi-Fi
Network membership	Any host that reaches the port gets an SSH banner — a probe surface	Devices without a provisioned key get no handshake response; the port is effectively silent

Rejected alternative: encrypt each broadcast frame in application code with a fleet-wide AEAD key. That reinvents a crypto layer the OS already provides, still leaves TCP head-of-line blocking for peer queries, and does not answer the membership question (who is allowed on the mesh at all).

Keep both layers: WireGuard for who is on the network and whether the wire is readable; SSH forced commands for what a peer is allowed to do once connected (04).

Key lifecycle

Phase	Action
Fleet build	Offline CA generates device identities; keys injected at provisioning, never transmitted over any network
Mission prep	Peer lists and certificates refreshed as part of the fleet release bundle (11)
Rotation	Standard cadence between missions; emergency rotation = new fleet release
Loss of a drone	Its keys are revoked in the next release; mesh peers drop the revoked identity at the next mission load. Data-at-rest exposure is bounded by NVMe encryption (below)

Data at rest

• On-board NVMe is encrypted (LUKS) with keys held in the device's secure element / TPM where the hardware provides one; the disk alone is unreadable.
• The ground warehouse applies standard at-rest encryption plus role-based access; it is the single most valuable asset in the system (every flight ever flown).

Attack surface, deliberately shortened

• The dev/debug plane does not exist in production builds (02) — not firewalled, absent.
• No inbound listeners except the authenticated mesh services; no management SSH in production radio profiles (bench access is wired, at the dock).
• Images are scanned (Trivy) and signed in CI; drones verify signatures against the pinned digests in the fleet release manifest before running anything (11).