{"id":"https://openalex.org/W2999072249","doi":"https://doi.org/10.1109/lra.2020.2967331","title":"An Adversarial Approach to Private Flocking in Mobile Robot Teams","display_name":"An Adversarial Approach to Private Flocking in Mobile Robot Teams","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999072249","doi":"https://doi.org/10.1109/lra.2020.2967331","mag":"2999072249"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967331","doi":"https://doi.org/10.1109/lra.2020.2967331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967331","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.10387","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006008705","display_name":"Hehui Zheng","orcid":"https://orcid.org/0000-0002-4977-0220","observed_orcids":["https://orcid.org/0000-0002-4977-0220"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hehui Zheng","raw_affiliation_strings":["Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4977-0220","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038164962","display_name":"Jacopo Panerati","orcid":"https://orcid.org/0000-0003-2994-5422","observed_orcids":["https://orcid.org/0000-0003-2994-5422"]},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jacopo Panerati","raw_affiliation_strings":["Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al QC, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2994-5422","affiliations":[{"raw_affiliation_string":"Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630","observed_orcids":["https://orcid.org/0000-0001-9755-8630"]},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-9755-8630","affiliations":[{"raw_affiliation_string":"Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066624177","display_name":"Amanda Prorok","orcid":"https://orcid.org/0000-0001-7313-5983","observed_orcids":["https://orcid.org/0000-0001-7313-5983"]},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amanda Prorok","raw_affiliation_strings":["Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7313-5983","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":2.6195,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.89475701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"1009","last_page":"1016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10764","display_name":"Privacy-Preserving Technologies in Data","score":0.020800000056624413,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0015999999595806003,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot-teams","display_name":"mobile robot teams","score":0.8259999752044678},{"id":"https://openalex.org/keywords/leader-identification","display_name":"leader identification","score":0.7429999709129333},{"id":"https://openalex.org/keywords/privacy","display_name":"privacy","score":0.5920000076293945},{"id":"https://openalex.org/keywords/adversarial-machine-learning","display_name":"adversarial learning","score":0.7860000133514404},{"id":"https://openalex.org/keywords/co-optimization","display_name":"co-optimization","score":0.8130000233650208},{"id":"https://openalex.org/keywords/trajectory-privacy","display_name":"trajectory privacy","score":0.5410000085830688},{"id":"https://openalex.org/keywords/flocking-control","display_name":"flocking control","score":0.7179999947547913},{"id":"https://openalex.org/keywords/adversarial-discriminator","display_name":"adversarial discriminator","score":0.652999997138977}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9517999887466431},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.8022000193595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548799991607666},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5008999705314636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43389999866485596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41280001401901245},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4074999988079071},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.33880001306533813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3325999975204468},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.305400013923645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29820001125335693},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2685000002384186},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2628999948501587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2535000145435333},{"id":"https://openalex.org/C2778355321","wikidata":"https://www.wikidata.org/wiki/Q17079427","display_name":"Identity (music)","level":2,"score":0.2506999969482422},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25049999356269836}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2020.2967331","doi":"https://doi.org/10.1109/lra.2020.2967331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967331","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.10387","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.10387","pdf_url":"https://arxiv.org/pdf/1909.10387","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:publications.polymtl.ca:45301","doi":null,"is_oa":false,"landing_page_url":"https://publications.polymtl.ca/45301/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zheng, H., Panerati, J., Beltrame, G., & Prorok, A. (2020). An adversarial approach to private flocking in mobile robot teams. IEEE Robotics and Automation Letters, 5(2), 1009-1016.","raw_type":"http://purl.org/coar/resource_type/c_6501"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/302673","doi":null,"is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/302673","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.1909.10387","doi":"https://doi.org/10.48550/arxiv.1909.10387","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.10387","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.17863/cam.49744","doi":"https://doi.org/10.17863/cam.49744","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.49744","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.10387","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.10387","pdf_url":"https://arxiv.org/pdf/1909.10387","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G8484150415","display_name":"Resilient Path Coordination in Connected Vehicle Systems","funder_award_id":"EP/S015493/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320322675","display_name":"Mitacs","ror":"https://ror.org/00cjrc276"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999072249.pdf","grobid_xml":"https://content.openalex.org/works/W2999072249.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1541288193","https://openalex.org/W1981826826","https://openalex.org/W1997490042","https://openalex.org/W2014694956","https://openalex.org/W2015861736","https://openalex.org/W2039533720","https://openalex.org/W2071658511","https://openalex.org/W2075329296","https://openalex.org/W2080058646","https://openalex.org/W2098194630","https://openalex.org/W2098681759","https://openalex.org/W2099471712","https://openalex.org/W2103714988","https://openalex.org/W2105850748","https://openalex.org/W2111388484","https://openalex.org/W2115775310","https://openalex.org/W2119120935","https://openalex.org/W2119693819","https://openalex.org/W2127683394","https://openalex.org/W2130647945","https://openalex.org/W2133328526","https://openalex.org/W2147928602","https://openalex.org/W2150312211","https://openalex.org/W2517145639","https://openalex.org/W2603253225","https://openalex.org/W2615547864","https://openalex.org/W2765886485","https://openalex.org/W2784041991","https://openalex.org/W2803685225","https://openalex.org/W2884236119","https://openalex.org/W2899771611","https://openalex.org/W2951899757","https://openalex.org/W2967236043","https://openalex.org/W2970971581","https://openalex.org/W2972846522","https://openalex.org/W2982793363","https://openalex.org/W3170820462","https://openalex.org/W3208200705","https://openalex.org/W4234406933","https://openalex.org/W4320013936"],"related_works":["https://openalex.org/W4406170890","https://openalex.org/W2517145639","https://openalex.org/W7116929602","https://openalex.org/W3134986131","https://openalex.org/W7162071329","https://openalex.org/W4392944084","https://openalex.org/W4408386236","https://openalex.org/W2133328526","https://openalex.org/W3182413560","https://openalex.org/W3048284425"],"abstract_inverted_index":{"Privacy":[0],"is":[1,34,43,89,129,135],"an":[2,31,99,136],"important":[3],"facet":[4],"of":[5,16,23,30,62,108,116,124,161],"defence":[6],"against":[7],"adversaries.":[8],"In":[9],"this":[10],"letter,":[11],"we":[12,96,120,148],"introduce":[13],"the":[14,28,47,60,63,92,106,109,114,159,163],"problem":[15],"private":[17,55],"flocking.":[18],"We":[19,49,76],"consider":[20],"a":[21,51,71,78],"team":[22],"mobile":[24],"robots":[25],"flocking":[26,56,82,93,140,154],"in":[27,45],"presence":[29],"adversary,":[32],"who":[33,42],"able":[35,150],"to":[36,104,131,151],"observe":[37],"all":[38],"robots'":[39],"trajectories,":[40],"and":[41,142,156],"interested":[44],"identifying":[46],"leader.":[48,164],"present":[50],"method":[52],"that":[53,58,80,86,102,133,147],"generates":[54],"controllers":[57],"hide":[59],"identity":[61,107],"leader":[64,87,110],"robot.":[65,111],"Our":[66],"approach":[67],"towards":[68],"privacy":[69],"leverages":[70],"data-driven":[72],"adversarial":[73,100],"co-optimization":[74,118],"scheme.":[75],"design":[77],"mechanism":[79],"optimizes":[81],"control":[83],"parameters,":[84],"such":[85],"inference":[88],"hindered.":[90],"As":[91],"performance":[94,115,141,155],"improves,":[95],"successively":[97],"train":[98],"discriminator":[101],"tries":[103],"infer":[105],"To":[112],"evaluate":[113],"our":[117,144],"scheme,":[119],"investigate":[121],"different":[122],"classes":[123],"reference":[125],"trajectories.":[126],"Although":[127],"it":[128],"reasonable":[130],"assume":[132],"there":[134],"inherent":[137],"trade-off":[138],"between":[139],"privacy,":[143],"results":[145],"demonstrate":[146],"are":[149],"achieve":[152],"high":[153],"simultaneously":[157],"reduce":[158],"risk":[160],"revealing":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":2}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2020-01-23T00:00:00"}