{"id":"https://openalex.org/W4393864287","doi":"https://doi.org/10.1109/tsmc.2024.3375353","title":"Switching-Based Distributed Adaptive Secure Formation Control for Mobile Robots With Denial-of-Service Attacks","display_name":"Switching-Based Distributed Adaptive Secure Formation Control for Mobile Robots With Denial-of-Service Attacks","publication_year":2024,"publication_date":"2024-04-03","ids":{"openalex":"https://openalex.org/W4393864287","doi":"https://doi.org/10.1109/tsmc.2024.3375353"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2024.3375353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3375353","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","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/A5053663084","display_name":"Zhen Han","orcid":"https://orcid.org/0000-0001-8450-9100"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Han","raw_affiliation_strings":["Chinese Scholartree Ridge State Key Laboratory, China North Vehicle Research Institute, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8450-9100","affiliations":[{"raw_affiliation_string":"Chinese Scholartree Ridge State Key Laboratory, China North Vehicle Research Institute, Beijing, China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059229969","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0001-9596-2752"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9596-2752","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082230080","display_name":"Maopeng Ran","orcid":"https://orcid.org/0000-0003-0984-144X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maopeng Ran","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0984-144X","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344158","display_name":"Changyun Wen","orcid":"https://orcid.org/0000-0001-9530-360X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Changyun Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9530-360X","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100435995","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-7014-2149"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7014-2149","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9772,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94158504,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"54","issue":"7","first_page":"4126","last_page":"4138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9807999730110168,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9746999740600586,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/denial-of-service-attack","display_name":"Denial-of-service attack","score":0.6661117076873779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6501365303993225},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5793353319168091},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.5673208236694336},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5368272662162781},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5347110033035278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5252941250801086},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4813719391822815},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4452996253967285},{"id":"https://openalex.org/keywords/dwell-time","display_name":"Dwell time","score":0.43976661562919617},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43959274888038635},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4210963249206543},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.410910964012146},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.41062843799591064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26298344135284424},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2062292993068695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1151735782623291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10446926951408386},{"id":"https://openalex.org/keywords/the-internet","display_name":"The Internet","score":0.08243092894554138}],"concepts":[{"id":"https://openalex.org/C38822068","wikidata":"https://www.wikidata.org/wiki/Q131406","display_name":"Denial-of-service attack","level":3,"score":0.6661117076873779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6501365303993225},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5793353319168091},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.5673208236694336},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5368272662162781},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5347110033035278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5252941250801086},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4813719391822815},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4452996253967285},{"id":"https://openalex.org/C151637689","wikidata":"https://www.wikidata.org/wiki/Q5318064","display_name":"Dwell time","level":2,"score":0.43976661562919617},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43959274888038635},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4210963249206543},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.410910964012146},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.41062843799591064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26298344135284424},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2062292993068695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1151735782623291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10446926951408386},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.08243092894554138},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C70410870","wikidata":"https://www.wikidata.org/wiki/Q199906","display_name":"Clinical psychology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2024.3375353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3375353","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5582009282","display_name":null,"funder_award_id":"62022008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7001507776","display_name":null,"funder_award_id":"61973017","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W219729528","https://openalex.org/W2062427453","https://openalex.org/W2068740779","https://openalex.org/W2090167557","https://openalex.org/W2111822775","https://openalex.org/W2118521282","https://openalex.org/W2122513851","https://openalex.org/W2142991845","https://openalex.org/W2147928602","https://openalex.org/W2165413656","https://openalex.org/W2167040191","https://openalex.org/W2499597001","https://openalex.org/W2527016499","https://openalex.org/W2754625975","https://openalex.org/W2761636223","https://openalex.org/W2767809286","https://openalex.org/W2795714409","https://openalex.org/W2888227520","https://openalex.org/W2911328656","https://openalex.org/W2950032093","https://openalex.org/W2971983880","https://openalex.org/W2974451895","https://openalex.org/W3000216272","https://openalex.org/W3008568452","https://openalex.org/W3016158569","https://openalex.org/W3047194659","https://openalex.org/W3084606728","https://openalex.org/W3093483185","https://openalex.org/W3184880618","https://openalex.org/W3185649554","https://openalex.org/W3196711749","https://openalex.org/W3211916631","https://openalex.org/W4206843821","https://openalex.org/W4210935577","https://openalex.org/W4285130884","https://openalex.org/W4362653364","https://openalex.org/W4367663099","https://openalex.org/W4381198781"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2132535444","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W1847613412","https://openalex.org/W4382203996"],"abstract_inverted_index":{"In":[0,76],"this":[1],"article,":[2],"the":[3,31,35,43,77,90,99,102,112,132,144,166,169],"distributed":[4,64],"adaptive":[5,56,65,70,116],"secure":[6,57,134,171],"formation":[7,44,147],"control":[8,58,118,135,172],"problem":[9],"for":[10,49,73,122],"mobile":[11],"robots":[12,19,32,123],"is":[13,52,60,120,140],"considered.":[14],"The":[15],"communication":[16,50],"channels":[17,51],"among":[18],"are":[20,83,162],"undirected":[21],"and":[22,68,80,155],"suffer":[23],"from":[24],"denial-of-service":[25],"(DoS)":[26],"attacks.":[27],"Only":[28],"part":[29],"of":[30,107,146,168],"can":[33,96,149],"access":[34],"reference":[36],"trajectories.":[37],"To":[38],"mitigate":[39],"attack":[40,87],"effects":[41,88],"on":[42,89,101],"performance,":[45],"a":[46,63,137],"switching":[47,108,157],"strategy":[48],"designed.":[53],"Besides,":[54],"an":[55,69,115],"scheme":[59,119],"proposed":[61,121,133,170],"with":[62,124],"trajectory":[66],"estimator":[67,128],"tracking":[71,117],"controller":[72],"each":[74],"robot.":[75],"estimator,":[78],"damping":[79],"normalizing":[81],"terms":[82,95],"introduced":[84],"to":[85,126,131,164],"alleviate":[86],"system":[91],"performance.":[92],"Moreover,":[93],"these":[94],"also":[97],"remove":[98],"constraints":[100],"lower":[103],"bounded":[104],"dwell":[105,158],"time":[106],"topologies.":[109],"By":[110],"applying":[111],"backstepping":[113],"technique,":[114],"uncertainties":[125],"track":[127],"states.":[129],"According":[130],"scheme,":[136],"stability":[138],"condition":[139],"provided,":[141],"such":[142],"that":[143],"boundedness":[145],"errors":[148],"be":[150],"guaranteed":[151],"under":[152],"DoS":[153],"attacks":[154],"arbitrary":[156],"time.":[159],"Experimental":[160],"results":[161],"given":[163],"illustrate":[165],"effectiveness":[167],"scheme.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
