{"id":"https://openalex.org/W4415626664","doi":"https://doi.org/10.1109/jiot.2025.3626315","title":"Event-Based Security Formation Control Against Dual-Terminal False Data Injection Attacks in Autonomous Mobile Robot Swarm","display_name":"Event-Based Security Formation Control Against Dual-Terminal False Data Injection Attacks in Autonomous Mobile Robot Swarm","publication_year":2025,"publication_date":"2025-10-28","ids":{"openalex":"https://openalex.org/W4415626664","doi":"https://doi.org/10.1109/jiot.2025.3626315"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3626315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3626315","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087627395","display_name":"Zhenyu Chang","orcid":"https://orcid.org/0000-0001-8630-4571"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenyu Chang","raw_affiliation_strings":["School of Control Science and Engineering, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8630-4571","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020855967","display_name":"Guangdeng Zong","orcid":"https://orcid.org/0000-0001-6498-5580"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangdeng Zong","raw_affiliation_strings":["School of Control Science and Engineering, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-6498-5580","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068624597","display_name":"Shiji Song","orcid":"https://orcid.org/0000-0001-7361-9283"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiji Song","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7361-9283","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083349103","display_name":"Xudong Zhao","orcid":"https://orcid.org/0000-0002-1864-4686"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Zhao","raw_affiliation_strings":["Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-1864-4686","affiliations":[{"raw_affiliation_string":"Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I4210092944","https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087627395"],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":0.93,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80275403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":"1","first_page":"990","last_page":"997"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.3465000092983246,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.3465000092983246,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.24719999730587006,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.05700000002980232,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5745000243186951},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.573199987411499},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5638999938964844},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5382000207901001},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5357000231742859},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4586000144481659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4519999921321869},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43950000405311584}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.751800000667572},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5745000243186951},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.573199987411499},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5638999938964844},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5382000207901001},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5357000231742859},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4586000144481659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4519999921321869},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4296000003814697},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40700000524520874},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.40700000524520874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.36039999127388},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3587000072002411},{"id":"https://openalex.org/C178148461","wikidata":"https://www.wikidata.org/wiki/Q1632136","display_name":"Security controls","level":3,"score":0.35749998688697815},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.32499998807907104},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30149999260902405},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3626315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3626315","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G113937351","display_name":null,"funder_award_id":"62303215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4940451780","display_name":null,"funder_award_id":"23JCYBJC00380","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G7114184750","display_name":null,"funder_award_id":"62273254","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7247222551","display_name":null,"funder_award_id":"25JCQNJC00950","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G7434525385","display_name":null,"funder_award_id":"2023YFB4706800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7461020209","display_name":null,"funder_award_id":"BK20230697","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8166579439","display_name":null,"funder_award_id":"tscx20240827","funder_id":"https://openalex.org/F4320329359","funder_display_name":"Taishan Industry Leading Talents"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"id":"https://openalex.org/F4320329359","display_name":"Taishan Industry Leading Talents","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1978708265","https://openalex.org/W2110039141","https://openalex.org/W2110740016","https://openalex.org/W2120791740","https://openalex.org/W2153775930","https://openalex.org/W2530077971","https://openalex.org/W2768779900","https://openalex.org/W2971983880","https://openalex.org/W3016158569","https://openalex.org/W3087277412","https://openalex.org/W3100116083","https://openalex.org/W3119385139","https://openalex.org/W3154747278","https://openalex.org/W3212742832","https://openalex.org/W3217110642","https://openalex.org/W4205168076","https://openalex.org/W4280622345","https://openalex.org/W4281609937","https://openalex.org/W4387587700","https://openalex.org/W4392940109","https://openalex.org/W4396853085","https://openalex.org/W4399405667","https://openalex.org/W4403022248","https://openalex.org/W4404840374","https://openalex.org/W4405933903","https://openalex.org/W4408304994","https://openalex.org/W4410294853","https://openalex.org/W4410737800"],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"considers":[2],"the":[3,8,36,41,62,79,83,92,97,106,111,118],"security":[4,71],"formation":[5,72,98],"control":[6,73],"for":[7],"autonomous":[9],"mobile":[10],"robot":[11],"swarm":[12],"with":[13],"uncertain":[14],"nonlinearity":[15],"under":[16],"dual-terminal":[17],"false":[18],"data":[19],"injection":[20],"attacks":[21],"on":[22,40],"both":[23],"actuators":[24,45],"and":[25,46,82],"sensors.":[26,47],"A":[27],"feasible":[28],"attack":[29],"compensation":[30,80],"mechanism":[31,81],"is":[32,52,75,102],"developed":[33],"to":[34,90],"eliminate":[35],"influence":[37],"of":[38,44,49,96,120],"tampering":[39],"transmitted":[42],"signals":[43,51],"Reconstruction":[48],"uncompromised":[50],"achieved":[53],"through":[54],"an":[55,66],"adaptive":[56,68],"neural":[57,69],"network":[58,64,70],"state":[59,84],"estimator.":[60,85],"Considering":[61],"limited":[63],"bandwidth,":[65],"event-triggered":[67],"strategy":[74],"proposed":[76,107],"by":[77],"integrating":[78],"Sufficient":[86],"conditions":[87],"are":[88],"derived":[89],"ensure":[91],"uniformly":[93],"ultimate":[94],"boundedness":[95],"error":[99],"system.":[100],"It":[101],"rigorously":[103],"proven":[104],"that":[105],"method":[108],"can":[109],"avoid":[110],"Zeno":[112],"phenomenon.":[113],"Finally,":[114],"simulation":[115],"verification":[116],"demonstrates":[117],"validity":[119],"theoretical":[121],"results.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-29T00:00:00"}