{"id":"https://openalex.org/W4317382695","doi":"https://doi.org/10.1109/robio55434.2022.10012006","title":"Formation Control for Quadrotor Swarms with Deception Attacks Via Singular Perturbation","display_name":"Formation Control for Quadrotor Swarms with Deception Attacks Via Singular Perturbation","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382695","doi":"https://doi.org/10.1109/robio55434.2022.10012006"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10012006","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012006","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100386216","display_name":"Ying Zhang","orcid":"https://orcid.org/0000-0003-1225-0181"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Zhang","raw_affiliation_strings":["The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069826865","display_name":"Lei Ma","orcid":"https://orcid.org/0000-0001-8669-5613"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ma","raw_affiliation_strings":["The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055615832","display_name":"Chunyu Yang","orcid":"https://orcid.org/0000-0002-1590-1712"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunyu Yang","raw_affiliation_strings":["The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102027008","display_name":"Linna Zhou","orcid":"https://orcid.org/0000-0003-2883-400X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linna Zhou","raw_affiliation_strings":["The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100386216"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2163515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"189","last_page":"194"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9882000088691711,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9830999970436096,"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/control-theory","display_name":"Control theory (sociology)","score":0.7214203476905823},{"id":"https://openalex.org/keywords/deception","display_name":"Deception","score":0.6198192238807678},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.615111768245697},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6010357141494751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5879292488098145},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5049658417701721},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4872402250766754},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.432192325592041},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3814823627471924},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34833335876464844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22735190391540527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19377532601356506},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17514756321907043},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.089784175157547}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7214203476905823},{"id":"https://openalex.org/C2779267917","wikidata":"https://www.wikidata.org/wiki/Q170028","display_name":"Deception","level":2,"score":0.6198192238807678},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.615111768245697},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6010357141494751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5879292488098145},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5049658417701721},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4872402250766754},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.432192325592041},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3814823627471924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34833335876464844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22735190391540527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19377532601356506},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17514756321907043},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.089784175157547},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10012006","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012006","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8037513872","display_name":null,"funder_award_id":"61873272, 62073327","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1515224583","https://openalex.org/W2735822044","https://openalex.org/W2766894408","https://openalex.org/W2782828584","https://openalex.org/W2914960106","https://openalex.org/W2928707119","https://openalex.org/W3039654581","https://openalex.org/W3072229048","https://openalex.org/W3088521775","https://openalex.org/W3211212736","https://openalex.org/W4200530466","https://openalex.org/W4213421412","https://openalex.org/W4220859467","https://openalex.org/W4226379290","https://openalex.org/W4285028503"],"related_works":["https://openalex.org/W2165717120","https://openalex.org/W2039390456","https://openalex.org/W2948663225","https://openalex.org/W2029954793","https://openalex.org/W4327639758","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2623488306","https://openalex.org/W1971902905","https://openalex.org/W2006371715"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,50,72,106,116,136],"concerned":[3],"with":[4,133],"the":[5,26,30,37,43,46,61,83,91,102,110,114,120,126,140,143],"formation":[6,19,80],"control":[7,70],"problem":[8,40],"of":[9,76,142],"quadrotor":[10,47],"swarms":[11],"subject":[12],"to":[13,35,138],"deception":[14],"attacks.":[15],"Malicious":[16],"attackers":[17],"disrupt":[18],"missions":[20],"by":[21,59],"injecting":[22],"false":[23],"data":[24],"into":[25,52],"information":[27,112],"exchanged":[28],"between":[29,113],"quadrotors.":[31],"First,":[32],"in":[33,119],"order":[34],"solve":[36],"ill-conditioned":[38],"numerical":[39],"while":[41],"reducing":[42],"computational":[44],"burden,":[45],"swarm":[48],"system":[49],"decomposed":[51],"two":[53],"reduced-order":[54],"slow":[55,85,93,121],"and":[56,95],"fast":[57,103],"subsystems":[58],"using":[60],"singular":[62],"perturbation":[63],"decomposition":[64],"theory.":[65],"Then,":[66],"a":[67,77,87,96,130],"novel":[68],"composite":[69],"architecture":[71],"proposed,":[73],"which":[74,123],"consists":[75],"distributed":[78],"attack-resilient":[79],"controller":[81,89,100],"for":[82,90,101],"position":[84],"subsystem,":[86,122],"PID":[88],"attitude":[92],"subsystem":[94],"linear":[97],"quadratic":[98],"regulation":[99],"subsystem.":[104],"It":[105],"worth":[107],"emphasizing":[108],"that":[109],"interaction":[111],"quadrotors":[115,135],"only":[117],"processed":[118],"greatly":[124],"improves":[125],"calculation":[127],"speed.":[128],"Finally,":[129],"simulation":[131],"example":[132],"four":[134],"given":[137],"verify":[139],"effectiveness":[141],"proposed":[144],"algorithm.":[145]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}