Performance Comparison of Relay-Based Covert Communications: DF, CF and AF

In this paper, we investigate the performance of covert communications in different types of a relay system: decode-and-forward (DF), compress-and-forward (CF) and amplify-and-forward (AF). We consider a source node that attempts to send both public and covert messages to a destination node through a relay on which a covert message detector is embedded. By taking the minimum detection error probability (DEP) at the relay into account, we optimize the power distribution between the public and covert messages to achieve the maximum covert rate. We further make a delay-aware comparison among DF, CF and AF relay systems with the obtained closed-form covert rates and conduct an extensive examination on the asymptotic behaviors in different limits. Our analyses reveal that CF or AF tend to outperform DF for high source transmit power or low relay transmit power, while various system parameters such as the processing delay, minimum required quality of service for public messages and DEP threshold lead to different performance relationships among DF, CF and AF for high relay transmit power. Numerical results verify our investigation into the performance comparison in various channel models.