{"id":"https://openalex.org/W4413120779","doi":"https://doi.org/10.1109/tvt.2025.3594220","title":"Finite-Time Leader-Following Formation Control With Obstacle Avoidance for Multi-AGV Systems Under Actuator Cyber-Attacks","display_name":"Finite-Time Leader-Following Formation Control With Obstacle Avoidance for Multi-AGV Systems Under Actuator Cyber-Attacks","publication_year":2025,"publication_date":"2025-08-08","ids":{"openalex":"https://openalex.org/W4413120779","doi":"https://doi.org/10.1109/tvt.2025.3594220"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3594220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3594220","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5100340487","display_name":"Haoran Zhang","orcid":"https://orcid.org/0000-0002-4641-0641"},"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":"Haoran Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"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/A5100697327","display_name":"Haiyang Chen","orcid":"https://orcid.org/0000-0002-7556-6741"},"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":"Haiyang Chen","raw_affiliation_strings":["School of Control Science and Engineering, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7556-6741","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100340487"],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":1.3517,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84485153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"75","issue":"1","first_page":"223","last_page":"232"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9708999991416931,"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":0.9708999991416931,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9587000012397766,"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/actuator","display_name":"Actuator","score":0.7463952302932739},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.663119912147522},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5622959733009338},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5465438961982727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5122577548027039},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5046924352645874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4799347519874573},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4565713703632355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.440502405166626},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4193367660045624},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31221193075180054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21416306495666504},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2093389630317688},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12968921661376953},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10688990354537964},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.09958016872406006}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7463952302932739},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.663119912147522},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5622959733009338},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5465438961982727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5122577548027039},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5046924352645874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4799347519874573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4565713703632355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.440502405166626},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4193367660045624},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31221193075180054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21416306495666504},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2093389630317688},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12968921661376953},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10688990354537964},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.09958016872406006},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3594220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3594220","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"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/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}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1995411588","https://openalex.org/W2048848526","https://openalex.org/W2096078692","https://openalex.org/W2167183308","https://openalex.org/W2329192114","https://openalex.org/W2343422466","https://openalex.org/W2530077971","https://openalex.org/W2611346233","https://openalex.org/W2755590954","https://openalex.org/W2762068781","https://openalex.org/W2763354547","https://openalex.org/W2780149228","https://openalex.org/W2782570863","https://openalex.org/W2796369631","https://openalex.org/W2909853987","https://openalex.org/W2965775214","https://openalex.org/W2973688650","https://openalex.org/W3083824892","https://openalex.org/W3119450748","https://openalex.org/W3132773748","https://openalex.org/W3137275038","https://openalex.org/W3163307743","https://openalex.org/W4205168076","https://openalex.org/W4206537203","https://openalex.org/W4210710597","https://openalex.org/W4213446770","https://openalex.org/W4295023837","https://openalex.org/W4313484989","https://openalex.org/W4317033494","https://openalex.org/W4319866312","https://openalex.org/W4321366661","https://openalex.org/W4323644157","https://openalex.org/W4383503575","https://openalex.org/W4385287472","https://openalex.org/W4388520088","https://openalex.org/W4391547580","https://openalex.org/W4392309273","https://openalex.org/W4396910085","https://openalex.org/W4399425883","https://openalex.org/W4402661200","https://openalex.org/W4403022881","https://openalex.org/W4406948490","https://openalex.org/W4408304994","https://openalex.org/W4409249101"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"The":[0,19],"finite-time":[1,111],"leader-following":[2],"formation":[3,32,50,73,112,126],"control":[4,21,51,74,113],"problem":[5],"is":[6,23,38,68,79,94,133],"investigated":[7],"for":[8],"multiple":[9],"autonomous":[10],"ground":[11],"vehicle":[12],"(AGV)":[13],"systems":[14,119],"subject":[15,120],"to":[16,25,40,81,96,108,121,135],"actuator":[17,46,122],"cyber-attacks.":[18,123],"finitetime":[20],"method":[22,67],"introduced":[24],"improve":[26],"the":[27,42,45,49,60,63,71,86,89,100,110,125,137,140],"response":[28],"speed":[29],"of":[30,44,117,128,131,139],"AGV":[31,55],"construction.":[33],"An":[34,76],"attack":[35],"compensation":[36],"mechanism":[37,78],"developed":[39,101],"eliminate":[41],"impact":[43],"cyber-attacks":[47],"on":[48],"performance.":[52],"To":[53],"avoid":[54,82],"collisions":[56],"with":[57,99],"obstacles":[58],"in":[59],"unknown":[61],"environment,":[62],"artificial":[64],"potential":[65],"field":[66],"integrated":[69],"into":[70],"leaderfollowing":[72],"strategy.":[75,142],"event-triggered":[77,102],"applied":[80,134],"continuous":[83],"communications":[84],"between":[85],"controller":[87],"and":[88,114],"actuator.":[90],"And":[91],"Zeno":[92],"phenomenon":[93],"proved":[95],"be":[97],"avoided":[98],"method.":[103],"Sufficient":[104],"conditions":[105],"are":[106],"derived":[107],"guarantee":[109],"obstacle":[115],"avoidance":[116],"multi-AGV":[118],"Finally,":[124],"task":[127],"a":[129],"group":[130],"vehicles":[132],"demonstrate":[136],"feasibility":[138],"proposed":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}