id	sid	tid	token	lemma	pos
fcis-30626	1	1	frontiers	frontier	NOUN
fcis-30626	1	2	in	in	ADP
fcis-30626	1	3	computing	computing	NOUN
fcis-30626	1	4	and	and	CCONJ
fcis-30626	1	5	intelligent	intelligent	ADJ
fcis-30626	1	6	systems	system	NOUN
fcis-30626	1	7	issn	issn	VERB
fcis-30626	1	8	:	:	PUNCT
fcis-30626	1	9	2832	2832	NUM
fcis-30626	1	10	-	-	SYM
fcis-30626	1	11	6024	6024	NUM
fcis-30626	1	12	|	|	NOUN
fcis-30626	1	13	vol	vol	NOUN
fcis-30626	1	14	.	.	PROPN
fcis-30626	2	1	12	12	NUM
fcis-30626	2	2	,	,	PUNCT
fcis-30626	2	3	no	no	INTJ
fcis-30626	2	4	.	.	NOUN
fcis-30626	2	5	1	1	NUM
fcis-30626	2	6	,	,	PUNCT
fcis-30626	2	7	2025	2025	NUM
fcis-30626	2	8	157	157	NUM
fcis-30626	2	9	research	research	NOUN
fcis-30626	2	10	on	on	ADP
fcis-30626	2	11	uav	uav	PROPN
fcis-30626	2	12	formation	formation	NOUN
fcis-30626	2	13	control	control	NOUN
fcis-30626	2	14	under	under	ADP
fcis-30626	2	15	deception	deception	NOUN
fcis-30626	2	16	attacks	attack	NOUN
fcis-30626	2	17	minghui	minghui	PROPN
fcis-30626	2	18	xie	xie	PROPN
fcis-30626	2	19	1	1	NUM
fcis-30626	2	20	,	,	PUNCT
fcis-30626	2	21	3	3	NUM
fcis-30626	2	22	,	,	PUNCT
fcis-30626	2	23	hongwei	hongwei	PROPN
fcis-30626	2	24	ren	ren	PROPN
fcis-30626	2	25	1	1	NUM
fcis-30626	2	26	,	,	PUNCT
fcis-30626	2	27	2	2	NUM
fcis-30626	2	28	,	,	PUNCT
fcis-30626	2	29	*	*	NUM
fcis-30626	2	30	1	1	NUM
fcis-30626	2	31	college	college	NOUN
fcis-30626	2	32	of	of	ADP
fcis-30626	2	33	automation	automation	NOUN
fcis-30626	2	34	,	,	PUNCT
fcis-30626	2	35	guangdong	guangdong	PROPN
fcis-30626	2	36	university	university	PROPN
fcis-30626	2	37	of	of	ADP
fcis-30626	2	38	petrochemical	petrochemical	NOUN
fcis-30626	2	39	technology	technology	NOUN
fcis-30626	2	40	,	,	PUNCT
fcis-30626	2	41	maoming	maoming	NOUN
fcis-30626	2	42	,	,	PUNCT
fcis-30626	2	43	guangdong	guangdong	PROPN
fcis-30626	2	44	,	,	PUNCT
fcis-30626	2	45	china	china	PROPN
fcis-30626	2	46	2	2	NUM
fcis-30626	2	47	guangdong	guangdong	PROPN
fcis-30626	2	48	provincial	provincial	ADJ
fcis-30626	2	49	key	key	ADJ
fcis-30626	2	50	laboratory	laboratory	NOUN
fcis-30626	2	51	of	of	ADP
fcis-30626	2	52	petrochemical	petrochemical	NOUN
fcis-30626	2	53	equipment	equipment	NOUN
fcis-30626	2	54	fault	fault	NOUN
fcis-30626	2	55	diagnosis	diagnosis	NOUN
fcis-30626	2	56	maoming	maoming	NOUN
fcis-30626	2	57	,	,	PUNCT
fcis-30626	2	58	guangdong	guangdong	PROPN
fcis-30626	2	59	,	,	PUNCT
fcis-30626	2	60	525000	525000	NUM
fcis-30626	2	61	,	,	PUNCT
fcis-30626	2	62	china	china	PROPN
fcis-30626	2	63	3	3	NUM
fcis-30626	2	64	college	college	NOUN
fcis-30626	2	65	of	of	ADP
fcis-30626	2	66	information	information	NOUN
fcis-30626	2	67	and	and	CCONJ
fcis-30626	2	68	control	control	PROPN
fcis-30626	2	69	engineering	engineering	PROPN
fcis-30626	2	70	,	,	PUNCT
fcis-30626	2	71	jilin	jilin	PROPN
fcis-30626	2	72	institute	institute	PROPN
fcis-30626	2	73	of	of	ADP
fcis-30626	2	74	chemical	chemical	PROPN
fcis-30626	2	75	technology	technology	PROPN
fcis-30626	2	76	,	,	PUNCT
fcis-30626	2	77	jilin	jilin	PROPN
fcis-30626	2	78	jilin	jilin	PROPN
fcis-30626	2	79	,	,	PUNCT
fcis-30626	2	80	132022	132022	NUM
fcis-30626	2	81	,	,	PUNCT
fcis-30626	2	82	china	china	PROPN
fcis-30626	2	83	*	*	PUNCT
fcis-30626	2	84	corresponding	correspond	VERB
fcis-30626	2	85	author	author	NOUN
fcis-30626	2	86	:	:	PUNCT
fcis-30626	2	87	hongwei	hongwei	PROPN
fcis-30626	2	88	ren	ren	PROPN
fcis-30626	2	89	abstract	abstract	ADV
fcis-30626	2	90	:	:	PUNCT
fcis-30626	2	91	with	with	ADP
fcis-30626	2	92	the	the	DET
fcis-30626	2	93	rapid	rapid	ADJ
fcis-30626	2	94	development	development	NOUN
fcis-30626	2	95	of	of	ADP
fcis-30626	2	96	uav	uav	PROPN
fcis-30626	2	97	technology	technology	PROPN
fcis-30626	2	98	and	and	CCONJ
fcis-30626	2	99	the	the	DET
fcis-30626	2	100	continuous	continuous	ADJ
fcis-30626	2	101	expansion	expansion	NOUN
fcis-30626	2	102	of	of	ADP
fcis-30626	2	103	application	application	NOUN
fcis-30626	2	104	scenarios	scenario	NOUN
fcis-30626	2	105	,	,	PUNCT
fcis-30626	2	106	uav	uav	PROPN
fcis-30626	2	107	formation	formation	NOUN
fcis-30626	2	108	control	control	NOUN
fcis-30626	2	109	has	have	AUX
fcis-30626	2	110	become	become	VERB
fcis-30626	2	111	an	an	DET
fcis-30626	2	112	important	important	ADJ
fcis-30626	2	113	research	research	NOUN
fcis-30626	2	114	direction	direction	NOUN
fcis-30626	2	115	in	in	ADP
fcis-30626	2	116	multi	multi	ADJ
fcis-30626	2	117	-	-	ADJ
fcis-30626	2	118	agent	agent	ADJ
fcis-30626	2	119	systems	system	NOUN
fcis-30626	2	120	.	.	PUNCT
fcis-30626	3	1	however	however	ADV
fcis-30626	3	2	,	,	PUNCT
fcis-30626	3	3	in	in	ADP
fcis-30626	3	4	complex	complex	ADJ
fcis-30626	3	5	network	network	NOUN
fcis-30626	3	6	environments	environment	NOUN
fcis-30626	3	7	,	,	PUNCT
fcis-30626	3	8	deception	deception	NOUN
fcis-30626	3	9	attacks	attack	NOUN
fcis-30626	3	10	pose	pose	VERB
fcis-30626	3	11	a	a	DET
fcis-30626	3	12	serious	serious	ADJ
fcis-30626	3	13	threat	threat	NOUN
fcis-30626	3	14	to	to	ADP
fcis-30626	3	15	the	the	DET
fcis-30626	3	16	security	security	NOUN
fcis-30626	3	17	and	and	CCONJ
fcis-30626	3	18	stability	stability	NOUN
fcis-30626	3	19	of	of	ADP
fcis-30626	3	20	uav	uav	PROPN
fcis-30626	3	21	formations	formation	NOUN
fcis-30626	3	22	.	.	PUNCT
fcis-30626	4	1	this	this	DET
fcis-30626	4	2	paper	paper	NOUN
fcis-30626	4	3	systematically	systematically	ADV
fcis-30626	4	4	reviews	review	VERB
fcis-30626	4	5	the	the	DET
fcis-30626	4	6	current	current	ADJ
fcis-30626	4	7	research	research	NOUN
fcis-30626	4	8	status	status	NOUN
fcis-30626	4	9	of	of	ADP
fcis-30626	4	10	uav	uav	PROPN
fcis-30626	4	11	formation	formation	NOUN
fcis-30626	4	12	control	control	NOUN
fcis-30626	4	13	under	under	ADP
fcis-30626	4	14	deception	deception	NOUN
fcis-30626	4	15	attacks	attack	NOUN
fcis-30626	4	16	,	,	PUNCT
fcis-30626	4	17	providing	provide	VERB
fcis-30626	4	18	an	an	DET
fcis-30626	4	19	in	in	ADP
fcis-30626	4	20	-	-	PUNCT
fcis-30626	4	21	depth	depth	NOUN
fcis-30626	4	22	analysis	analysis	NOUN
fcis-30626	4	23	from	from	ADP
fcis-30626	4	24	multiple	multiple	ADJ
fcis-30626	4	25	dimensions	dimension	NOUN
fcis-30626	4	26	,	,	PUNCT
fcis-30626	4	27	including	include	VERB
fcis-30626	4	28	research	research	NOUN
fcis-30626	4	29	background	background	NOUN
fcis-30626	4	30	,	,	PUNCT
fcis-30626	4	31	technical	technical	ADJ
fcis-30626	4	32	challenges	challenge	NOUN
fcis-30626	4	33	,	,	PUNCT
fcis-30626	4	34	control	control	NOUN
fcis-30626	4	35	methods	method	NOUN
fcis-30626	4	36	,	,	PUNCT
fcis-30626	4	37	and	and	CCONJ
fcis-30626	4	38	security	security	NOUN
fcis-30626	4	39	defenses	defense	NOUN
fcis-30626	4	40	.	.	PUNCT
fcis-30626	5	1	first	first	ADV
fcis-30626	5	2	,	,	PUNCT
fcis-30626	5	3	the	the	DET
fcis-30626	5	4	development	development	NOUN
fcis-30626	5	5	history	history	NOUN
fcis-30626	5	6	and	and	CCONJ
fcis-30626	5	7	key	key	ADJ
fcis-30626	5	8	technologies	technology	NOUN
fcis-30626	5	9	of	of	ADP
fcis-30626	5	10	uav	uav	PROPN
fcis-30626	5	11	formation	formation	NOUN
fcis-30626	5	12	control	control	NOUN
fcis-30626	5	13	are	be	AUX
fcis-30626	5	14	introduced	introduce	VERB
fcis-30626	5	15	.	.	PUNCT
fcis-30626	6	1	then	then	ADV
fcis-30626	6	2	,	,	PUNCT
fcis-30626	6	3	the	the	DET
fcis-30626	6	4	characteristics	characteristic	NOUN
fcis-30626	6	5	of	of	ADP
fcis-30626	6	6	deception	deception	NOUN
fcis-30626	6	7	attacks	attack	NOUN
fcis-30626	6	8	and	and	CCONJ
fcis-30626	6	9	their	their	PRON
fcis-30626	6	10	impact	impact	NOUN
fcis-30626	6	11	on	on	ADP
fcis-30626	6	12	formation	formation	NOUN
fcis-30626	6	13	control	control	NOUN
fcis-30626	6	14	are	be	AUX
fcis-30626	6	15	analyzed	analyze	VERB
fcis-30626	6	16	in	in	ADP
fcis-30626	6	17	detail	detail	NOUN
fcis-30626	6	18	.	.	PUNCT
fcis-30626	7	1	finally	finally	ADV
fcis-30626	7	2	,	,	PUNCT
fcis-30626	7	3	the	the	DET
fcis-30626	7	4	challenges	challenge	NOUN
fcis-30626	7	5	faced	face	VERB
fcis-30626	7	6	by	by	ADP
fcis-30626	7	7	current	current	ADJ
fcis-30626	7	8	research	research	NOUN
fcis-30626	7	9	and	and	CCONJ
fcis-30626	7	10	future	future	ADJ
fcis-30626	7	11	development	development	NOUN
fcis-30626	7	12	directions	direction	NOUN
fcis-30626	7	13	are	be	AUX
fcis-30626	7	14	summarized	summarize	VERB
fcis-30626	7	15	.	.	PUNCT
fcis-30626	8	1	keywords	keyword	NOUN
fcis-30626	8	2	:	:	PUNCT
fcis-30626	8	3	uav	uav	PROPN
fcis-30626	8	4	formation	formation	NOUN
fcis-30626	8	5	control	control	NOUN
fcis-30626	8	6	;	;	PUNCT
fcis-30626	8	7	deception	deception	NOUN
fcis-30626	8	8	attacks	attack	NOUN
fcis-30626	8	9	;	;	PUNCT
fcis-30626	8	10	network	network	NOUN
fcis-30626	8	11	security	security	NOUN
fcis-30626	8	12	;	;	PUNCT
fcis-30626	8	13	multi	multi	ADJ
fcis-30626	8	14	-	-	ADJ
fcis-30626	8	15	agent	agent	ADJ
fcis-30626	8	16	systems	system	NOUN
fcis-30626	8	17	.	.	PUNCT
fcis-30626	9	1	1	1	X
fcis-30626	9	2	.	.	X
fcis-30626	9	3	introduction	introduction	NOUN
fcis-30626	9	4	1.1	1.1	NUM
fcis-30626	9	5	.	.	PUNCT
fcis-30626	10	1	research	research	NOUN
fcis-30626	10	2	background	background	NOUN
fcis-30626	10	3	in	in	ADP
fcis-30626	10	4	recent	recent	ADJ
fcis-30626	10	5	years	year	NOUN
fcis-30626	10	6	,	,	PUNCT
fcis-30626	10	7	unmanned	unmanned	ADJ
fcis-30626	10	8	aerial	aerial	ADJ
fcis-30626	10	9	systems	system	NOUN
fcis-30626	10	10	(	(	PUNCT
fcis-30626	10	11	uas	uas	NOUN
fcis-30626	10	12	)	)	PUNCT
fcis-30626	10	13	technology	technology	NOUN
fcis-30626	10	14	has	have	AUX
fcis-30626	10	15	shifted	shift	VERB
fcis-30626	10	16	from	from	ADP
fcis-30626	10	17	single	single	ADJ
fcis-30626	10	18	-	-	PUNCT
fcis-30626	10	19	agent	agent	NOUN
fcis-30626	10	20	autonomous	autonomous	ADJ
fcis-30626	10	21	control	control	NOUN
fcis-30626	10	22	to	to	ADP
fcis-30626	10	23	multi	multi	ADJ
fcis-30626	10	24	-	-	ADJ
fcis-30626	10	25	agent	agent	ADJ
fcis-30626	10	26	collaborative	collaborative	ADJ
fcis-30626	10	27	control	control	NOUN
fcis-30626	10	28	.	.	PUNCT
fcis-30626	11	1	according	accord	VERB
fcis-30626	11	2	to	to	ADP
fcis-30626	11	3	the	the	DET
fcis-30626	11	4	latest	late	ADJ
fcis-30626	11	5	market	market	NOUN
fcis-30626	11	6	analysis	analysis	NOUN
fcis-30626	11	7	report	report	NOUN
fcis-30626	11	8	by	by	ADP
fcis-30626	11	9	grand	grand	ADJ
fcis-30626	11	10	view	view	NOUN
fcis-30626	11	11	research	research	NOUN
fcis-30626	11	12	,	,	PUNCT
fcis-30626	11	13	the	the	DET
fcis-30626	11	14	global	global	ADJ
fcis-30626	11	15	drone	drone	NOUN
fcis-30626	11	16	market	market	NOUN
fcis-30626	11	17	has	have	AUX
fcis-30626	11	18	grown	grow	VERB
fcis-30626	11	19	from	from	ADP
fcis-30626	11	20	approximately	approximately	ADV
fcis-30626	11	21	$	$	SYM
fcis-30626	11	22	60	60	NUM
fcis-30626	11	23	billion	billion	NUM
fcis-30626	11	24	in	in	ADP
fcis-30626	11	25	2020	2020	NUM
fcis-30626	11	26	to	to	ADP
fcis-30626	11	27	$	$	SYM
fcis-30626	11	28	73.06	73.06	NUM
fcis-30626	11	29	billion	billion	NUM
fcis-30626	11	30	in	in	ADP
fcis-30626	11	31	2024	2024	NUM
fcis-30626	11	32	,	,	PUNCT
fcis-30626	11	33	with	with	ADP
fcis-30626	11	34	an	an	DET
fcis-30626	11	35	expected	expect	VERB
fcis-30626	11	36	compound	compound	NOUN
fcis-30626	11	37	annual	annual	ADJ
fcis-30626	11	38	growth	growth	NOUN
fcis-30626	11	39	rate	rate	NOUN
fcis-30626	11	40	of	of	ADP
fcis-30626	11	41	14.3	14.3	NUM
fcis-30626	11	42	%	%	NOUN
fcis-30626	11	43	between	between	ADP
fcis-30626	11	44	2025	2025	NUM
fcis-30626	11	45	and	and	CCONJ
fcis-30626	11	46	2030	2030	NUM
fcis-30626	11	47	,	,	PUNCT
fcis-30626	11	48	projecting	project	VERB
fcis-30626	11	49	the	the	DET
fcis-30626	11	50	market	market	NOUN
fcis-30626	11	51	size	size	NOUN
fcis-30626	11	52	to	to	PART
fcis-30626	11	53	reach	reach	VERB
fcis-30626	11	54	$	$	SYM
fcis-30626	11	55	163.6	163.6	NUM
fcis-30626	11	56	billion	billion	NUM
fcis-30626	11	57	by	by	ADP
fcis-30626	11	58	2030	2030	NUM
fcis-30626	11	59	[	[	X
fcis-30626	11	60	1	1	NUM
fcis-30626	11	61	]	]	PUNCT
fcis-30626	11	62	.	.	PUNCT
fcis-30626	12	1	this	this	DET
fcis-30626	12	2	significant	significant	ADJ
fcis-30626	12	3	growth	growth	NOUN
fcis-30626	12	4	stems	stem	VERB
fcis-30626	12	5	not	not	PART
fcis-30626	12	6	only	only	ADV
fcis-30626	12	7	from	from	ADP
fcis-30626	12	8	the	the	DET
fcis-30626	12	9	diversification	diversification	NOUN
fcis-30626	12	10	of	of	ADP
fcis-30626	12	11	drone	drone	NOUN
fcis-30626	12	12	applications	application	NOUN
fcis-30626	12	13	but	but	CCONJ
fcis-30626	12	14	also	also	ADV
fcis-30626	12	15	reflects	reflect	VERB
fcis-30626	12	16	the	the	DET
fcis-30626	12	17	evolution	evolution	NOUN
fcis-30626	12	18	of	of	ADP
fcis-30626	12	19	system	system	NOUN
fcis-30626	12	20	architectures	architecture	NOUN
fcis-30626	12	21	from	from	ADP
fcis-30626	12	22	centralized	centralized	ADJ
fcis-30626	12	23	to	to	PART
fcis-30626	12	24	distributed	distribute	VERB
fcis-30626	12	25	.	.	PUNCT
fcis-30626	13	1	uav	uav	PROPN
fcis-30626	13	2	formation	formation	PROPN
fcis-30626	13	3	,	,	PUNCT
fcis-30626	13	4	as	as	ADP
fcis-30626	13	5	a	a	DET
fcis-30626	13	6	typical	typical	ADJ
fcis-30626	13	7	collaborative	collaborative	ADJ
fcis-30626	13	8	mode	mode	NOUN
fcis-30626	13	9	of	of	ADP
fcis-30626	13	10	multi	multi	ADJ
fcis-30626	13	11	-	-	ADJ
fcis-30626	13	12	agent	agent	ADJ
fcis-30626	13	13	systems	system	NOUN
fcis-30626	13	14	(	(	PUNCT
fcis-30626	13	15	mas	mas	PROPN
fcis-30626	13	16	)	)	PUNCT
fcis-30626	13	17	,	,	PUNCT
fcis-30626	13	18	integrates	integrate	NOUN
fcis-30626	13	19	distributed	distribute	VERB
fcis-30626	13	20	control	control	NOUN
fcis-30626	13	21	algorithms	algorithm	NOUN
fcis-30626	13	22	,	,	PUNCT
fcis-30626	13	23	consensus	consensus	NOUN
fcis-30626	13	24	protocols	protocol	NOUN
fcis-30626	13	25	,	,	PUNCT
fcis-30626	13	26	and	and	CCONJ
fcis-30626	13	27	swarm	swarm	NOUN
fcis-30626	13	28	intelligence	intelligence	NOUN
fcis-30626	13	29	theory	theory	NOUN
fcis-30626	13	30	to	to	PART
fcis-30626	13	31	achieve	achieve	VERB
fcis-30626	13	32	cooperative	cooperative	ADJ
fcis-30626	13	33	perception	perception	NOUN
fcis-30626	13	34	,	,	PUNCT
fcis-30626	13	35	decision	decision	NOUN
fcis-30626	13	36	-	-	PUNCT
fcis-30626	13	37	making	making	NOUN
fcis-30626	13	38	,	,	PUNCT
fcis-30626	13	39	and	and	CCONJ
fcis-30626	13	40	execution	execution	NOUN
fcis-30626	13	41	of	of	ADP
fcis-30626	13	42	complex	complex	ADJ
fcis-30626	13	43	tasks	task	NOUN
fcis-30626	13	44	,	,	PUNCT
fcis-30626	13	45	resulting	result	VERB
fcis-30626	13	46	in	in	ADP
fcis-30626	13	47	qualitative	qualitative	ADJ
fcis-30626	13	48	breakthroughs	breakthrough	NOUN
fcis-30626	13	49	in	in	ADP
fcis-30626	13	50	system	system	NOUN
fcis-30626	13	51	fault	fault	NOUN
fcis-30626	13	52	tolerance	tolerance	NOUN
fcis-30626	13	53	,	,	PUNCT
fcis-30626	13	54	task	task	NOUN
fcis-30626	13	55	efficiency	efficiency	NOUN
fcis-30626	13	56	,	,	PUNCT
fcis-30626	13	57	and	and	CCONJ
fcis-30626	13	58	environmental	environmental	ADJ
fcis-30626	13	59	adaptability	adaptability	NOUN
fcis-30626	13	60	[	[	X
fcis-30626	13	61	2	2	NUM
fcis-30626	13	62	]	]	PUNCT
fcis-30626	13	63	.	.	PUNCT
fcis-30626	14	1	the	the	DET
fcis-30626	14	2	core	core	ADJ
fcis-30626	14	3	scientific	scientific	ADJ
fcis-30626	14	4	challenge	challenge	NOUN
fcis-30626	14	5	in	in	ADP
fcis-30626	14	6	uav	uav	PROPN
fcis-30626	14	7	formation	formation	NOUN
fcis-30626	14	8	control	control	NOUN
fcis-30626	14	9	lies	lie	VERB
fcis-30626	14	10	in	in	ADP
fcis-30626	14	11	achieving	achieve	VERB
fcis-30626	14	12	state	state	NOUN
fcis-30626	14	13	consensus	consensus	NOUN
fcis-30626	14	14	and	and	CCONJ
fcis-30626	14	15	adaptive	adaptive	ADJ
fcis-30626	14	16	collaborative	collaborative	ADJ
fcis-30626	14	17	control	control	NOUN
fcis-30626	14	18	among	among	ADP
fcis-30626	14	19	multiple	multiple	ADJ
fcis-30626	14	20	uav	uav	PROPN
fcis-30626	14	21	nodes	node	NOUN
fcis-30626	14	22	.	.	PUNCT
fcis-30626	15	1	from	from	ADP
fcis-30626	15	2	the	the	DET
fcis-30626	15	3	perspective	perspective	NOUN
fcis-30626	15	4	of	of	ADP
fcis-30626	15	5	control	control	NOUN
fcis-30626	15	6	architecture	architecture	NOUN
fcis-30626	15	7	evolution	evolution	NOUN
fcis-30626	15	8	,	,	PUNCT
fcis-30626	15	9	chen	chen	PROPN
fcis-30626	15	10	et	et	PROPN
fcis-30626	15	11	al	al	PROPN
fcis-30626	15	12	.	.	PUNCT
fcis-30626	16	1	[	[	X
fcis-30626	16	2	3	3	X
fcis-30626	16	3	]	]	PUNCT
fcis-30626	16	4	noted	note	VERB
fcis-30626	16	5	that	that	SCONJ
fcis-30626	16	6	current	current	ADJ
fcis-30626	16	7	uav	uav	PROPN
fcis-30626	16	8	formation	formation	NOUN
fcis-30626	16	9	control	control	NOUN
fcis-30626	16	10	is	be	AUX
fcis-30626	16	11	rapidly	rapidly	ADV
fcis-30626	16	12	transitioning	transition	VERB
fcis-30626	16	13	from	from	ADP
fcis-30626	16	14	centralized	centralize	VERB
fcis-30626	16	15	to	to	ADP
fcis-30626	16	16	distributed	distribute	VERB
fcis-30626	16	17	architectures	architecture	NOUN
fcis-30626	16	18	,	,	PUNCT
fcis-30626	16	19	with	with	ADP
fcis-30626	16	20	gradual	gradual	ADJ
fcis-30626	16	21	advancements	advancement	NOUN
fcis-30626	16	22	toward	toward	ADP
fcis-30626	16	23	hybrid	hybrid	NOUN
fcis-30626	16	24	and	and	CCONJ
fcis-30626	16	25	self	self	NOUN
fcis-30626	16	26	-	-	PUNCT
fcis-30626	16	27	organizing	organize	VERB
fcis-30626	16	28	architectures	architecture	NOUN
fcis-30626	16	29	.	.	PUNCT
fcis-30626	17	1	in	in	ADP
fcis-30626	17	2	centralized	centralized	ADJ
fcis-30626	17	3	architectures	architecture	NOUN
fcis-30626	17	4	,	,	PUNCT
fcis-30626	17	5	control	control	NOUN
fcis-30626	17	6	decisions	decision	NOUN
fcis-30626	17	7	are	be	AUX
fcis-30626	17	8	computed	compute	VERB
fcis-30626	17	9	and	and	CCONJ
fcis-30626	17	10	issued	issue	VERB
fcis-30626	17	11	by	by	ADP
fcis-30626	17	12	a	a	DET
fcis-30626	17	13	central	central	ADJ
fcis-30626	17	14	processing	processing	NOUN
fcis-30626	17	15	unit	unit	NOUN
fcis-30626	17	16	,	,	PUNCT
fcis-30626	17	17	posing	pose	VERB
fcis-30626	17	18	risks	risk	NOUN
fcis-30626	17	19	of	of	ADP
fcis-30626	17	20	single	single	ADJ
fcis-30626	17	21	-	-	PUNCT
fcis-30626	17	22	point	point	NOUN
fcis-30626	17	23	failures	failure	NOUN
fcis-30626	17	24	and	and	CCONJ
fcis-30626	17	25	communication	communication	NOUN
fcis-30626	17	26	bottlenecks	bottleneck	NOUN
fcis-30626	17	27	.	.	PUNCT
fcis-30626	18	1	in	in	ADP
fcis-30626	18	2	contrast	contrast	NOUN
fcis-30626	18	3	,	,	PUNCT
fcis-30626	18	4	distributed	distribute	VERB
fcis-30626	18	5	architectures	architecture	NOUN
fcis-30626	18	6	enable	enable	VERB
fcis-30626	18	7	uav	uav	PROPN
fcis-30626	18	8	nodes	node	NOUN
fcis-30626	18	9	to	to	PART
fcis-30626	18	10	make	make	VERB
fcis-30626	18	11	autonomous	autonomous	ADJ
fcis-30626	18	12	decisions	decision	NOUN
fcis-30626	18	13	based	base	VERB
fcis-30626	18	14	on	on	ADP
fcis-30626	18	15	local	local	ADJ
fcis-30626	18	16	state	state	NOUN
fcis-30626	18	17	information	information	NOUN
fcis-30626	18	18	and	and	CCONJ
fcis-30626	18	19	limited	limited	ADJ
fcis-30626	18	20	communication	communication	NOUN
fcis-30626	18	21	resources	resource	NOUN
fcis-30626	18	22	,	,	PUNCT
fcis-30626	18	23	demonstrating	demonstrate	VERB
fcis-30626	18	24	higher	high	ADJ
fcis-30626	18	25	system	system	NOUN
fcis-30626	18	26	flexibility	flexibility	NOUN
fcis-30626	18	27	and	and	CCONJ
fcis-30626	18	28	fault	fault	VERB
fcis-30626	18	29	tolerance	tolerance	NOUN
fcis-30626	18	30	[	[	X
fcis-30626	18	31	4	4	NUM
fcis-30626	18	32	]	]	PUNCT
fcis-30626	18	33	.	.	PUNCT
fcis-30626	19	1	this	this	DET
fcis-30626	19	2	theoretical	theoretical	ADJ
fcis-30626	19	3	paradigm	paradigm	NOUN
fcis-30626	19	4	shift	shift	NOUN
fcis-30626	19	5	arises	arise	VERB
fcis-30626	19	6	from	from	ADP
fcis-30626	19	7	significant	significant	ADJ
fcis-30626	19	8	progress	progress	NOUN
fcis-30626	19	9	in	in	ADP
fcis-30626	19	10	networked	networked	ADJ
fcis-30626	19	11	control	control	NOUN
fcis-30626	19	12	system	system	NOUN
fcis-30626	19	13	theory	theory	NOUN
fcis-30626	19	14	,	,	PUNCT
fcis-30626	19	15	particularly	particularly	ADV
fcis-30626	19	16	the	the	DET
fcis-30626	19	17	rigorous	rigorous	ADJ
fcis-30626	19	18	mathematical	mathematical	ADJ
fcis-30626	19	19	foundation	foundation	NOUN
fcis-30626	19	20	provided	provide	VERB
fcis-30626	19	21	by	by	ADP
fcis-30626	19	22	multi	multi	ADJ
fcis-30626	19	23	-	-	ADJ
fcis-30626	19	24	agent	agent	ADJ
fcis-30626	19	25	collaborative	collaborative	ADJ
fcis-30626	19	26	control	control	PROPN
fcis-30626	19	27	theory	theory	NOUN
fcis-30626	19	28	based	base	VERB
fcis-30626	19	29	on	on	ADP
fcis-30626	19	30	algebraic	algebraic	ADJ
fcis-30626	19	31	graph	graph	NOUN
fcis-30626	19	32	theory	theory	NOUN
fcis-30626	19	33	[	[	X
fcis-30626	19	34	5	5	NUM
fcis-30626	19	35	]	]	PUNCT
fcis-30626	19	36	.	.	PUNCT
fcis-30626	20	1	liu	liu	PROPN
fcis-30626	20	2	et	et	PROPN
fcis-30626	20	3	al	al	PROPN
fcis-30626	20	4	.	.	PUNCT
fcis-30626	21	1	[	[	X
fcis-30626	21	2	6	6	NUM
fcis-30626	21	3	]	]	PUNCT
fcis-30626	21	4	made	make	VERB
fcis-30626	21	5	a	a	DET
fcis-30626	21	6	breakthrough	breakthrough	NOUN
fcis-30626	21	7	by	by	ADP
fcis-30626	21	8	proposing	propose	VERB
fcis-30626	21	9	a	a	DET
fcis-30626	21	10	sliding	sliding	ADJ
fcis-30626	21	11	-	-	PUNCT
fcis-30626	21	12	mode	mode	NOUN
fcis-30626	21	13	control	control	NOUN
fcis-30626	21	14	-	-	PUNCT
fcis-30626	21	15	based	base	VERB
fcis-30626	21	16	uav	uav	PROPN
fcis-30626	21	17	formation	formation	NOUN
fcis-30626	21	18	method	method	NOUN
fcis-30626	21	19	,	,	PUNCT
fcis-30626	21	20	effectively	effectively	ADV
fcis-30626	21	21	addressing	address	VERB
fcis-30626	21	22	robust	robust	ADJ
fcis-30626	21	23	formation	formation	NOUN
fcis-30626	21	24	control	control	NOUN
fcis-30626	21	25	under	under	ADP
fcis-30626	21	26	communication	communication	NOUN
fcis-30626	21	27	constraints	constraint	NOUN
fcis-30626	21	28	.	.	PUNCT
fcis-30626	22	1	in	in	ADP
fcis-30626	22	2	practical	practical	ADJ
fcis-30626	22	3	applications	application	NOUN
fcis-30626	22	4	,	,	PUNCT
fcis-30626	22	5	uav	uav	PROPN
fcis-30626	22	6	formation	formation	NOUN
fcis-30626	22	7	technology	technology	NOUN
fcis-30626	22	8	has	have	AUX
fcis-30626	22	9	demonstrated	demonstrate	VERB
fcis-30626	22	10	significant	significant	ADJ
fcis-30626	22	11	value	value	NOUN
fcis-30626	22	12	in	in	ADP
fcis-30626	22	13	both	both	CCONJ
fcis-30626	22	14	military	military	ADJ
fcis-30626	22	15	and	and	CCONJ
fcis-30626	22	16	civilian	civilian	ADJ
fcis-30626	22	17	domains	domain	NOUN
fcis-30626	22	18	.	.	PUNCT
fcis-30626	23	1	in	in	ADP
fcis-30626	23	2	the	the	DET
fcis-30626	23	3	military	military	ADJ
fcis-30626	23	4	field	field	NOUN
fcis-30626	23	5	,	,	PUNCT
fcis-30626	23	6	swarm	swarm	NOUN
fcis-30626	23	7	intelligence	intelligence	NOUN
fcis-30626	23	8	-	-	PUNCT
fcis-30626	23	9	based	base	VERB
fcis-30626	23	10	collaborative	collaborative	ADJ
fcis-30626	23	11	reconnaissance	reconnaissance	NOUN
fcis-30626	23	12	and	and	CCONJ
fcis-30626	23	13	precision	precision	NOUN
fcis-30626	23	14	strikes	strike	NOUN
fcis-30626	23	15	have	have	AUX
fcis-30626	23	16	become	become	VERB
fcis-30626	23	17	key	key	ADJ
fcis-30626	23	18	research	research	NOUN
fcis-30626	23	19	directions	direction	NOUN
fcis-30626	23	20	.	.	PUNCT
fcis-30626	24	1	zhao	zhao	PROPN
fcis-30626	24	2	et	et	PROPN
fcis-30626	24	3	al	al	PROPN
fcis-30626	24	4	.	.	PUNCT
fcis-30626	25	1	[	[	X
fcis-30626	25	2	7	7	NUM
fcis-30626	25	3	]	]	PUNCT
fcis-30626	25	4	developed	develop	VERB
fcis-30626	25	5	a	a	DET
fcis-30626	25	6	multi	multi	ADJ
fcis-30626	25	7	-	-	ADJ
fcis-30626	25	8	agent	agent	ADJ
fcis-30626	25	9	game	game	NOUN
fcis-30626	25	10	reinforcement	reinforcement	NOUN
fcis-30626	25	11	learning	learning	NOUN
fcis-30626	25	12	model	model	NOUN
fcis-30626	25	13	for	for	ADP
fcis-30626	25	14	uav	uav	PROPN
fcis-30626	25	15	intelligent	intelligent	ADJ
fcis-30626	25	16	attack	attack	NOUN
fcis-30626	25	17	strategy	strategy	NOUN
fcis-30626	25	18	generation	generation	NOUN
fcis-30626	25	19	,	,	PUNCT
fcis-30626	25	20	significantly	significantly	ADV
fcis-30626	25	21	enhancing	enhance	VERB
fcis-30626	25	22	combat	combat	NOUN
fcis-30626	25	23	effectiveness	effectiveness	NOUN
fcis-30626	25	24	in	in	ADP
fcis-30626	25	25	complex	complex	ADJ
fcis-30626	25	26	environments	environment	NOUN
fcis-30626	25	27	.	.	PUNCT
fcis-30626	26	1	in	in	ADP
fcis-30626	26	2	the	the	DET
fcis-30626	26	3	civilian	civilian	ADJ
fcis-30626	26	4	sector	sector	NOUN
fcis-30626	26	5	,	,	PUNCT
fcis-30626	26	6	sarhan	sarhan	ADP
fcis-30626	26	7	et	et	PROPN
fcis-30626	26	8	.	.	PUNCT
fcis-30626	27	1	al	al	PROPN
fcis-30626	27	2	.	.	PROPN
fcis-30626	27	3	classify	classify	VERB
fcis-30626	27	4	formation	formation	NOUN
fcis-30626	27	5	control	control	NOUN
fcis-30626	27	6	strategies	strategy	NOUN
fcis-30626	27	7	into	into	ADP
fcis-30626	27	8	leader	leader	NOUN
fcis-30626	27	9	-	-	PUNCT
fcis-30626	27	10	follower	follower	NOUN
fcis-30626	27	11	,	,	PUNCT
fcis-30626	27	12	virtual	virtual	ADJ
fcis-30626	27	13	structure	structure	NOUN
fcis-30626	27	14	,	,	PUNCT
fcis-30626	27	15	and	and	CCONJ
fcis-30626	27	16	behavior	behavior	NOUN
fcis-30626	27	17	-	-	PUNCT
fcis-30626	27	18	based	base	VERB
fcis-30626	27	19	approaches	approach	NOUN
fcis-30626	27	20	,	,	PUNCT
fcis-30626	27	21	providing	provide	VERB
fcis-30626	27	22	a	a	DET
fcis-30626	27	23	framework	framework	NOUN
fcis-30626	27	24	for	for	ADP
fcis-30626	27	25	understanding	understand	VERB
fcis-30626	27	26	the	the	DET
fcis-30626	27	27	various	various	ADJ
fcis-30626	27	28	methodologies	methodology	NOUN
fcis-30626	27	29	employed	employ	VERB
fcis-30626	27	30	in	in	ADP
fcis-30626	27	31	uav	uav	PROPN
fcis-30626	27	32	formation	formation	NOUN
fcis-30626	27	33	control	control	NOUN
fcis-30626	27	34	.	.	PUNCT
fcis-30626	28	1	this	this	DET
fcis-30626	28	2	classification	classification	NOUN
fcis-30626	28	3	is	be	AUX
fcis-30626	28	4	essential	essential	ADJ
fcis-30626	28	5	for	for	ADP
fcis-30626	28	6	identifying	identify	VERB
fcis-30626	28	7	the	the	DET
fcis-30626	28	8	most	most	ADV
fcis-30626	28	9	suitable	suitable	ADJ
fcis-30626	28	10	strategies	strategy	NOUN
fcis-30626	28	11	for	for	ADP
fcis-30626	28	12	specific	specific	ADJ
fcis-30626	28	13	civilian	civilian	ADJ
fcis-30626	28	14	applications	application	NOUN
fcis-30626	28	15	.	.	PUNCT
fcis-30626	29	1	kamel	kamel	PROPN
fcis-30626	29	2	et	et	PROPN
fcis-30626	29	3	.	.	PUNCT
fcis-30626	30	1	al	al	PROPN
fcis-30626	30	2	.	.	PROPN
fcis-30626	30	3	highlight	highlight	VERB
fcis-30626	30	4	the	the	DET
fcis-30626	30	5	advancements	advancement	NOUN
fcis-30626	30	6	in	in	ADP
fcis-30626	30	7	cooperative	cooperative	ADJ
fcis-30626	30	8	navigation	navigation	NOUN
fcis-30626	30	9	and	and	CCONJ
fcis-30626	30	10	formation	formation	NOUN
fcis-30626	30	11	flight	flight	NOUN
fcis-30626	30	12	,	,	PUNCT
fcis-30626	30	13	particularly	particularly	ADV
fcis-30626	30	14	through	through	ADP
fcis-30626	30	15	the	the	DET
fcis-30626	30	16	use	use	NOUN
fcis-30626	30	17	of	of	ADP
fcis-30626	30	18	vision	vision	NOUN
fcis-30626	30	19	processing	processing	NOUN
fcis-30626	30	20	and	and	CCONJ
fcis-30626	30	21	radiofrequency	radiofrequency	NOUN
fcis-30626	30	22	data	datum	NOUN
fcis-30626	30	23	transmission	transmission	NOUN
fcis-30626	30	24	.	.	PUNCT
fcis-30626	31	1	the	the	DET
fcis-30626	31	2	low	low	ADJ
fcis-30626	31	3	cost	cost	NOUN
fcis-30626	31	4	and	and	CCONJ
fcis-30626	31	5	operational	operational	ADJ
fcis-30626	31	6	flexibility	flexibility	NOUN
fcis-30626	31	7	of	of	ADP
fcis-30626	31	8	uavs	uavs	NOUN
fcis-30626	31	9	make	make	VERB
fcis-30626	31	10	them	they	PRON
fcis-30626	31	11	increasingly	increasingly	ADV
fcis-30626	31	12	attractive	attractive	ADJ
fcis-30626	31	13	for	for	ADP
fcis-30626	31	14	civilian	civilian	ADJ
fcis-30626	31	15	applications	application	NOUN
fcis-30626	31	16	,	,	PUNCT
fcis-30626	31	17	especially	especially	ADV
fcis-30626	31	18	in	in	ADP
fcis-30626	31	19	areas	area	NOUN
fcis-30626	31	20	that	that	PRON
fcis-30626	31	21	are	be	AUX
fcis-30626	31	22	hazardous	hazardous	ADJ
fcis-30626	31	23	for	for	ADP
fcis-30626	31	24	human	human	ADJ
fcis-30626	31	25	pilots	pilot	NOUN
fcis-30626	31	26	.	.	PUNCT
fcis-30626	32	1	;	;	PUNCT
fcis-30626	32	2	pan	pan	PROPN
fcis-30626	32	3	et	et	PROPN
fcis-30626	32	4	al	al	PROPN
fcis-30626	32	5	.	.	PUNCT
fcis-30626	33	1	[	[	X
fcis-30626	33	2	10	10	NUM
fcis-30626	33	3	]	]	PUNCT
fcis-30626	33	4	proposed	propose	VERB
fcis-30626	33	5	an	an	DET
fcis-30626	33	6	improved	improved	ADJ
fcis-30626	33	7	artificial	artificial	ADJ
fcis-30626	33	8	potential	potential	ADJ
fcis-30626	33	9	field	field	NOUN
fcis-30626	33	10	method	method	NOUN
fcis-30626	33	11	to	to	PART
fcis-30626	33	12	address	address	VERB
fcis-30626	33	13	path	path	NOUN
fcis-30626	33	14	planning	planning	NOUN
fcis-30626	33	15	and	and	CCONJ
fcis-30626	33	16	formation	formation	NOUN
fcis-30626	33	17	control	control	NOUN
fcis-30626	33	18	for	for	ADP
fcis-30626	33	19	multi	multi	ADJ
fcis-30626	33	20	-	-	ADJ
fcis-30626	33	21	uav	uav	ADJ
fcis-30626	33	22	systems	system	NOUN
fcis-30626	33	23	.	.	PUNCT
fcis-30626	34	1	in	in	ADP
fcis-30626	34	2	commercial	commercial	ADJ
fcis-30626	34	3	applications	application	NOUN
fcis-30626	34	4	,	,	PUNCT
fcis-30626	34	5	uav	uav	PROPN
fcis-30626	34	6	formation	formation	NOUN
fcis-30626	34	7	delivery	delivery	NOUN
fcis-30626	34	8	in	in	ADP
fcis-30626	34	9	logistics	logistic	NOUN
fcis-30626	34	10	has	have	AUX
fcis-30626	34	11	improved	improve	VERB
fcis-30626	34	12	efficiency	efficiency	NOUN
fcis-30626	34	13	by	by	ADP
fcis-30626	34	14	over	over	ADP
fcis-30626	34	15	250	250	NUM
fcis-30626	34	16	%	%	NOUN
fcis-30626	34	17	compared	compare	VERB
fcis-30626	34	18	to	to	ADP
fcis-30626	34	19	traditional	traditional	ADJ
fcis-30626	34	20	methods	method	NOUN
fcis-30626	34	21	,	,	PUNCT
fcis-30626	34	22	while	while	SCONJ
fcis-30626	34	23	agricultural	agricultural	ADJ
fcis-30626	34	24	uav	uav	PROPN
fcis-30626	34	25	formations	formation	NOUN
fcis-30626	34	26	have	have	AUX
fcis-30626	34	27	boosted	boost	VERB
fcis-30626	34	28	operational	operational	ADJ
fcis-30626	34	29	efficiency	efficiency	NOUN
fcis-30626	34	30	in	in	ADP
fcis-30626	34	31	large	large	ADJ
fcis-30626	34	32	-	-	PUNCT
fcis-30626	34	33	scale	scale	NOUN
fcis-30626	34	34	precision	precision	NOUN
fcis-30626	34	35	pesticide	pesticide	NOUN
fcis-30626	34	36	application	application	NOUN
fcis-30626	34	37	by	by	ADP
fcis-30626	34	38	300%–500	300%–500	NUM
fcis-30626	34	39	%	%	NOUN
fcis-30626	34	40	,	,	PUNCT
fcis-30626	34	41	significantly	significantly	ADV
fcis-30626	34	42	reducing	reduce	VERB
fcis-30626	34	43	labor	labor	NOUN
fcis-30626	34	44	costs	cost	NOUN
fcis-30626	34	45	and	and	CCONJ
fcis-30626	34	46	environmental	environmental	ADJ
fcis-30626	34	47	impact	impact	NOUN
fcis-30626	34	48	[	[	X
fcis-30626	34	49	11	11	NUM
fcis-30626	34	50	]	]	PUNCT
fcis-30626	34	51	.	.	PUNCT
fcis-30626	35	1	as	as	SCONJ
fcis-30626	35	2	uas	uas	PROPN
fcis-30626	35	3	networking	networking	NOUN
fcis-30626	35	4	and	and	CCONJ
fcis-30626	35	5	autonomous	autonomous	ADJ
fcis-30626	35	6	intelligence	intelligence	NOUN
fcis-30626	35	7	levels	level	NOUN
fcis-30626	35	8	continue	continue	VERB
fcis-30626	35	9	to	to	PART
fcis-30626	35	10	rise	rise	VERB
fcis-30626	35	11	,	,	PUNCT
fcis-30626	35	12	security	security	NOUN
fcis-30626	35	13	threats	threat	NOUN
fcis-30626	35	14	have	have	AUX
fcis-30626	35	15	evolved	evolve	VERB
fcis-30626	35	16	from	from	ADP
fcis-30626	35	17	traditional	traditional	ADJ
fcis-30626	35	18	physical	physical	ADJ
fcis-30626	35	19	-	-	PUNCT
fcis-30626	35	20	layer	layer	NOUN
fcis-30626	35	21	interference	interference	NOUN
fcis-30626	35	22	to	to	ADP
fcis-30626	35	23	more	more	ADV
fcis-30626	35	24	covert	covert	ADJ
fcis-30626	35	25	and	and	CCONJ
fcis-30626	35	26	destructive	destructive	ADJ
fcis-30626	35	27	information	information	NOUN
fcis-30626	35	28	-	-	PUNCT
fcis-30626	35	29	layer	layer	NOUN
fcis-30626	35	30	attacks	attack	NOUN
fcis-30626	35	31	[	[	X
fcis-30626	35	32	12	12	NUM
fcis-30626	35	33	]	]	PUNCT
fcis-30626	35	34	.	.	PUNCT
fcis-30626	36	1	according	accord	VERB
fcis-30626	36	2	to	to	ADP
fcis-30626	36	3	the	the	DET
fcis-30626	36	4	2023	2023	NUM
fcis-30626	36	5	global	global	ADJ
fcis-30626	36	6	intelligent	intelligent	ADJ
fcis-30626	36	7	systems	system	NOUN
fcis-30626	36	8	security	security	NOUN
fcis-30626	36	9	report	report	NOUN
fcis-30626	36	10	*	*	PUNCT
fcis-30626	36	11	by	by	ADP
fcis-30626	36	12	cybersecurity	cybersecurity	NOUN
fcis-30626	36	13	firm	firm	NOUN
fcis-30626	36	14	158	158	NUM
fcis-30626	36	15	check	check	NOUN
fcis-30626	36	16	point	point	NOUN
fcis-30626	36	17	,	,	PUNCT
fcis-30626	36	18	cyberattacks	cyberattack	NOUN
fcis-30626	36	19	targeting	target	VERB
fcis-30626	36	20	uas	uas	PROPN
fcis-30626	36	21	grew	grow	VERB
fcis-30626	36	22	at	at	ADP
fcis-30626	36	23	an	an	DET
fcis-30626	36	24	annual	annual	ADJ
fcis-30626	36	25	rate	rate	NOUN
fcis-30626	36	26	of	of	ADP
fcis-30626	36	27	83.6	83.6	NUM
fcis-30626	36	28	%	%	NOUN
fcis-30626	36	29	between	between	ADP
fcis-30626	36	30	2018	2018	NUM
fcis-30626	36	31	and	and	CCONJ
fcis-30626	36	32	2023	2023	NUM
fcis-30626	36	33	,	,	PUNCT
fcis-30626	36	34	with	with	ADP
fcis-30626	36	35	deception	deception	NOUN
fcis-30626	36	36	attacks	attack	NOUN
fcis-30626	36	37	increasing	increase	VERB
fcis-30626	36	38	from	from	ADP
fcis-30626	36	39	31.2	31.2	NUM
fcis-30626	36	40	%	%	NOUN
fcis-30626	36	41	to	to	ADP
fcis-30626	36	42	57.8	57.8	NUM
fcis-30626	36	43	%	%	NOUN
fcis-30626	36	44	,	,	PUNCT
fcis-30626	36	45	becoming	become	VERB
fcis-30626	36	46	the	the	DET
fcis-30626	36	47	predominant	predominant	ADJ
fcis-30626	36	48	attack	attack	NOUN
fcis-30626	36	49	vector	vector	NOUN
fcis-30626	36	50	[	[	X
fcis-30626	36	51	13	13	NUM
fcis-30626	36	52	]	]	PUNCT
fcis-30626	36	53	.	.	PUNCT
fcis-30626	37	1	deception	deception	NOUN
fcis-30626	37	2	attacks	attack	NOUN
fcis-30626	37	3	are	be	AUX
fcis-30626	37	4	a	a	DET
fcis-30626	37	5	class	class	NOUN
fcis-30626	37	6	of	of	ADP
fcis-30626	37	7	advanced	advanced	ADJ
fcis-30626	37	8	cyber	cyber	NOUN
fcis-30626	37	9	threats	threat	NOUN
fcis-30626	37	10	based	base	VERB
fcis-30626	37	11	on	on	ADP
fcis-30626	37	12	information	information	NOUN
fcis-30626	37	13	manipulation	manipulation	NOUN
fcis-30626	37	14	,	,	PUNCT
fcis-30626	37	15	where	where	SCONJ
fcis-30626	37	16	attackers	attacker	NOUN
fcis-30626	37	17	inject	inject	VERB
fcis-30626	37	18	carefully	carefully	ADV
fcis-30626	37	19	crafted	craft	VERB
fcis-30626	37	20	false	false	ADJ
fcis-30626	37	21	data	datum	NOUN
fcis-30626	37	22	or	or	CCONJ
fcis-30626	37	23	tamper	tamper	VERB
fcis-30626	37	24	with	with	ADP
fcis-30626	37	25	normal	normal	ADJ
fcis-30626	37	26	information	information	NOUN
fcis-30626	37	27	flows	flow	VERB
fcis-30626	37	28	to	to	PART
fcis-30626	37	29	induce	induce	VERB
fcis-30626	37	30	systems	system	NOUN
fcis-30626	37	31	to	to	PART
fcis-30626	37	32	make	make	VERB
fcis-30626	37	33	decisions	decision	NOUN
fcis-30626	37	34	based	base	VERB
fcis-30626	37	35	on	on	ADP
fcis-30626	37	36	erroneous	erroneous	ADJ
fcis-30626	37	37	information	information	NOUN
fcis-30626	37	38	[	[	X
fcis-30626	37	39	14	14	NUM
fcis-30626	37	40	]	]	PUNCT
fcis-30626	37	41	.	.	PUNCT
fcis-30626	38	1	depending	depend	VERB
fcis-30626	38	2	on	on	ADP
fcis-30626	38	3	the	the	DET
fcis-30626	38	4	target	target	NOUN
fcis-30626	38	5	,	,	PUNCT
fcis-30626	38	6	deception	deception	NOUN
fcis-30626	38	7	attacks	attack	NOUN
fcis-30626	38	8	in	in	ADP
fcis-30626	38	9	uav	uav	PROPN
fcis-30626	38	10	systems	system	NOUN
fcis-30626	38	11	primarily	primarily	ADV
fcis-30626	38	12	manifest	manifest	VERB
fcis-30626	38	13	in	in	ADP
fcis-30626	38	14	three	three	NUM
fcis-30626	38	15	forms	form	NOUN
fcis-30626	38	16	:	:	PUNCT
fcis-30626	38	17	(	(	PUNCT
fcis-30626	38	18	1	1	X
fcis-30626	38	19	)	)	PUNCT
fcis-30626	38	20	positioning	positioning	NOUN
fcis-30626	38	21	system	system	NOUN
fcis-30626	38	22	spoofing	spoof	VERB
fcis-30626	38	23	(	(	PUNCT
fcis-30626	38	24	e.g.	e.g.	ADV
fcis-30626	38	25	,	,	PUNCT
fcis-30626	38	26	gps	gps	NOUN
fcis-30626	38	27	/	/	SYM
fcis-30626	38	28	beidou	beidou	NOUN
fcis-30626	38	29	spoofing	spoofing	NOUN
fcis-30626	38	30	)	)	PUNCT
fcis-30626	38	31	,	,	PUNCT
fcis-30626	38	32	which	which	PRON
fcis-30626	38	33	disrupts	disrupt	VERB
fcis-30626	38	34	uav	uav	PROPN
fcis-30626	38	35	spatial	spatial	ADJ
fcis-30626	38	36	perception	perception	NOUN
fcis-30626	38	37	by	by	ADP
fcis-30626	38	38	broadcasting	broadcast	VERB
fcis-30626	38	39	forged	forge	VERB
fcis-30626	38	40	navigation	navigation	NOUN
fcis-30626	38	41	signals	signal	NOUN
fcis-30626	38	42	;	;	PUNCT
fcis-30626	38	43	(	(	PUNCT
fcis-30626	38	44	2	2	X
fcis-30626	38	45	)	)	PUNCT
fcis-30626	38	46	communication	communication	NOUN
fcis-30626	38	47	channel	channel	NOUN
fcis-30626	38	48	spoofing	spoofing	NOUN
fcis-30626	38	49	,	,	PUNCT
fcis-30626	38	50	such	such	ADJ
fcis-30626	38	51	as	as	ADP
fcis-30626	38	52	man	man	NOUN
fcis-30626	38	53	-	-	PUNCT
fcis-30626	38	54	in	in	ADP
fcis-30626	38	55	-	-	PUNCT
fcis-30626	38	56	the	the	DET
fcis-30626	38	57	-	-	PUNCT
fcis-30626	38	58	middle	middle	ADJ
fcis-30626	38	59	attacks	attack	NOUN
fcis-30626	38	60	or	or	CCONJ
fcis-30626	38	61	packet	packet	NOUN
fcis-30626	38	62	modification	modification	NOUN
fcis-30626	38	63	targeting	target	VERB
fcis-30626	38	64	peer	peer	NOUN
fcis-30626	38	65	-	-	PUNCT
fcis-30626	38	66	to	to	ADP
fcis-30626	38	67	-	-	PUNCT
fcis-30626	38	68	peer	peer	NOUN
fcis-30626	38	69	uav	uav	PROPN
fcis-30626	38	70	communication	communication	NOUN
fcis-30626	38	71	links	link	NOUN
fcis-30626	38	72	;	;	PUNCT
fcis-30626	38	73	and	and	CCONJ
fcis-30626	38	74	(	(	PUNCT
fcis-30626	38	75	3	3	X
fcis-30626	38	76	)	)	PUNCT
fcis-30626	38	77	sensor	sensor	NOUN
fcis-30626	38	78	data	datum	NOUN
fcis-30626	38	79	spoofing	spoofing	NOUN
fcis-30626	38	80	,	,	PUNCT
fcis-30626	38	81	which	which	PRON
fcis-30626	38	82	interferes	interfere	VERB
fcis-30626	38	83	with	with	ADP
fcis-30626	38	84	data	datum	NOUN
fcis-30626	38	85	streams	stream	NOUN
fcis-30626	38	86	from	from	ADP
fcis-30626	38	87	environmental	environmental	ADJ
fcis-30626	38	88	sensors	sensor	NOUN
fcis-30626	38	89	like	like	ADP
fcis-30626	38	90	cameras	camera	NOUN
fcis-30626	38	91	or	or	CCONJ
fcis-30626	38	92	lidar	lidar	NOUN
fcis-30626	38	93	[	[	X
fcis-30626	38	94	15	15	NUM
fcis-30626	38	95	]	]	PUNCT
fcis-30626	38	96	.	.	PUNCT
fcis-30626	39	1	for	for	ADP
fcis-30626	39	2	uav	uav	PROPN
fcis-30626	39	3	formations	formation	NOUN
fcis-30626	39	4	,	,	PUNCT
fcis-30626	39	5	cybersecurity	cybersecurity	NOUN
fcis-30626	39	6	faces	face	VERB
fcis-30626	39	7	even	even	ADV
fcis-30626	39	8	greater	great	ADJ
fcis-30626	39	9	challenges	challenge	NOUN
fcis-30626	39	10	.	.	PUNCT
fcis-30626	40	1	liu	liu	PROPN
fcis-30626	40	2	et	et	PROPN
fcis-30626	40	3	al	al	PROPN
fcis-30626	40	4	.	.	PUNCT
fcis-30626	41	1	[	[	X
fcis-30626	41	2	16	16	NUM
fcis-30626	41	3	]	]	PUNCT
fcis-30626	41	4	systematically	systematically	ADV
fcis-30626	41	5	analyzed	analyze	VERB
fcis-30626	41	6	that	that	SCONJ
fcis-30626	41	7	distributed	distribute	VERB
fcis-30626	41	8	formation	formation	NOUN
fcis-30626	41	9	control	control	NOUN
fcis-30626	41	10	systems	system	NOUN
fcis-30626	41	11	exhibit	exhibit	VERB
fcis-30626	41	12	significant	significant	ADJ
fcis-30626	41	13	cascading	cascade	VERB
fcis-30626	41	14	vulnerabilities	vulnerability	NOUN
fcis-30626	41	15	.	.	PUNCT
fcis-30626	42	1	specifically	specifically	ADV
fcis-30626	42	2	:	:	PUNCT
fcis-30626	42	3	first	first	ADV
fcis-30626	42	4	,	,	PUNCT
fcis-30626	42	5	compared	compare	VERB
fcis-30626	42	6	to	to	ADP
fcis-30626	42	7	single	single	ADJ
fcis-30626	42	8	-	-	PUNCT
fcis-30626	42	9	uav	uav	PROPN
fcis-30626	42	10	systems	system	NOUN
fcis-30626	42	11	,	,	PUNCT
fcis-30626	42	12	the	the	DET
fcis-30626	42	13	multi	multi	ADJ
fcis-30626	42	14	-	-	ADJ
fcis-30626	42	15	node	node	ADJ
fcis-30626	42	16	nature	nature	NOUN
fcis-30626	42	17	of	of	ADP
fcis-30626	42	18	formations	formation	NOUN
fcis-30626	42	19	substantially	substantially	ADV
fcis-30626	42	20	expands	expand	VERB
fcis-30626	42	21	the	the	DET
fcis-30626	42	22	attack	attack	NOUN
fcis-30626	42	23	surface	surface	NOUN
fcis-30626	42	24	,	,	PUNCT
fcis-30626	42	25	allowing	allow	VERB
fcis-30626	42	26	attackers	attacker	NOUN
fcis-30626	42	27	to	to	PART
fcis-30626	42	28	compromise	compromise	VERB
fcis-30626	42	29	the	the	DET
fcis-30626	42	30	entire	entire	ADJ
fcis-30626	42	31	system	system	NOUN
fcis-30626	42	32	by	by	ADP
fcis-30626	42	33	breaching	breach	VERB
fcis-30626	42	34	any	any	DET
fcis-30626	42	35	node	node	NOUN
fcis-30626	42	36	’s	’s	PART
fcis-30626	42	37	security	security	NOUN
fcis-30626	42	38	.	.	PUNCT
fcis-30626	43	1	second	second	ADJ
fcis-30626	43	2	,	,	PUNCT
fcis-30626	43	3	based	base	VERB
fcis-30626	43	4	on	on	ADP
fcis-30626	43	5	network	network	NOUN
fcis-30626	43	6	topology	topology	NOUN
fcis-30626	43	7	theory	theory	NOUN
fcis-30626	43	8	,	,	PUNCT
fcis-30626	43	9	the	the	DET
fcis-30626	43	10	dependency	dependency	NOUN
fcis-30626	43	11	of	of	ADP
fcis-30626	43	12	information	information	NOUN
fcis-30626	43	13	propagation	propagation	NOUN
fcis-30626	43	14	among	among	ADP
fcis-30626	43	15	nodes	node	NOUN
fcis-30626	43	16	provides	provide	VERB
fcis-30626	43	17	pathways	pathway	NOUN
fcis-30626	43	18	for	for	ADP
fcis-30626	43	19	attack	attack	NOUN
fcis-30626	43	20	diffusion	diffusion	NOUN
fcis-30626	43	21	,	,	PUNCT
fcis-30626	43	22	enabling	enable	VERB
fcis-30626	43	23	rapid	rapid	ADJ
fcis-30626	43	24	spread	spread	NOUN
fcis-30626	43	25	through	through	ADP
fcis-30626	43	26	network	network	NOUN
fcis-30626	43	27	connections	connection	NOUN
fcis-30626	43	28	.	.	PUNCT
fcis-30626	44	1	third	third	ADJ
fcis-30626	44	2	,	,	PUNCT
fcis-30626	44	3	the	the	DET
fcis-30626	44	4	distributed	distribute	VERB
fcis-30626	44	5	decisionmaking	decisionmake	VERB
fcis-30626	44	6	mechanisms	mechanism	NOUN
fcis-30626	44	7	commonly	commonly	ADV
fcis-30626	44	8	used	use	VERB
fcis-30626	44	9	in	in	ADP
fcis-30626	44	10	formations	formation	NOUN
fcis-30626	44	11	heavily	heavily	ADV
fcis-30626	44	12	rely	rely	VERB
fcis-30626	44	13	on	on	ADP
fcis-30626	44	14	information	information	NOUN
fcis-30626	44	15	consensus	consensus	NOUN
fcis-30626	44	16	;	;	PUNCT
fcis-30626	44	17	if	if	SCONJ
fcis-30626	44	18	critical	critical	ADJ
fcis-30626	44	19	nodes	node	NOUN
fcis-30626	44	20	are	be	AUX
fcis-30626	44	21	spoofed	spoof	VERB
fcis-30626	44	22	,	,	PUNCT
fcis-30626	44	23	it	it	PRON
fcis-30626	44	24	may	may	AUX
fcis-30626	44	25	trigger	trigger	VERB
fcis-30626	44	26	chain	chain	NOUN
fcis-30626	44	27	reactions	reaction	NOUN
fcis-30626	44	28	leading	lead	VERB
fcis-30626	44	29	to	to	ADP
fcis-30626	44	30	systemic	systemic	ADJ
fcis-30626	44	31	collapse	collapse	NOUN
fcis-30626	44	32	[	[	X
fcis-30626	44	33	17	17	NUM
fcis-30626	44	34	]	]	PUNCT
fcis-30626	44	35	.	.	PUNCT
fcis-30626	45	1	yin	yin	PROPN
fcis-30626	45	2	et	et	PROPN
fcis-30626	45	3	al	al	PROPN
fcis-30626	45	4	.	.	PUNCT
fcis-30626	46	1	[	[	X
fcis-30626	46	2	18	18	NUM
fcis-30626	46	3	]	]	PUNCT
fcis-30626	46	4	recently	recently	ADV
fcis-30626	46	5	proposed	propose	VERB
fcis-30626	46	6	an	an	DET
fcis-30626	46	7	event	event	NOUN
fcis-30626	46	8	-	-	PUNCT
fcis-30626	46	9	triggered	trigger	VERB
fcis-30626	46	10	sliding	slide	VERB
fcis-30626	46	11	-	-	PUNCT
fcis-30626	46	12	mode	mode	NOUN
fcis-30626	46	13	control	control	NOUN
fcis-30626	46	14	method	method	NOUN
fcis-30626	46	15	incorporating	incorporate	VERB
fcis-30626	46	16	an	an	DET
fcis-30626	46	17	observer	observer	NOUN
fcis-30626	46	18	mechanism	mechanism	NOUN
fcis-30626	46	19	,	,	PUNCT
fcis-30626	46	20	which	which	PRON
fcis-30626	46	21	maintains	maintain	VERB
fcis-30626	46	22	formation	formation	NOUN
fcis-30626	46	23	stability	stability	NOUN
fcis-30626	46	24	under	under	ADP
fcis-30626	46	25	replay	replay	NOUN
fcis-30626	46	26	attacks	attack	NOUN
fcis-30626	46	27	.	.	PUNCT
fcis-30626	47	1	simulations	simulation	NOUN
fcis-30626	47	2	show	show	VERB
fcis-30626	47	3	this	this	DET
fcis-30626	47	4	method	method	NOUN
fcis-30626	47	5	confines	confine	NOUN
fcis-30626	47	6	attack	attack	VERB
fcis-30626	47	7	impacts	impact	NOUN
fcis-30626	47	8	within	within	ADP
fcis-30626	47	9	predefined	predefine	VERB
fcis-30626	47	10	thresholds	threshold	NOUN
fcis-30626	47	11	.	.	PUNCT
fcis-30626	48	1	additionally	additionally	ADV
fcis-30626	48	2	,	,	PUNCT
fcis-30626	48	3	xiao	xiao	PROPN
fcis-30626	48	4	et	et	PROPN
fcis-30626	48	5	al	al	PROPN
fcis-30626	48	6	.	.	PUNCT
fcis-30626	49	1	[	[	X
fcis-30626	49	2	19	19	NUM
fcis-30626	49	3	]	]	PUNCT
fcis-30626	49	4	developed	develop	VERB
fcis-30626	49	5	an	an	DET
fcis-30626	49	6	improved	improved	ADJ
fcis-30626	49	7	sliding	slide	VERB
fcis-30626	49	8	innovation	innovation	NOUN
fcis-30626	49	9	sequence	sequence	NOUN
fcis-30626	49	10	algorithm	algorithm	NOUN
fcis-30626	49	11	that	that	PRON
fcis-30626	49	12	successfully	successfully	ADV
fcis-30626	49	13	detected	detect	VERB
fcis-30626	49	14	and	and	CCONJ
fcis-30626	49	15	isolated	isolated	ADJ
fcis-30626	49	16	deception	deception	NOUN
fcis-30626	49	17	attacks	attack	NOUN
fcis-30626	49	18	on	on	ADP
fcis-30626	49	19	quadrotor	quadrotor	PROPN
fcis-30626	49	20	uavs	uavs	NOUN
fcis-30626	49	21	in	in	ADP
fcis-30626	49	22	experiments	experiment	NOUN
fcis-30626	49	23	,	,	PUNCT
fcis-30626	49	24	offering	offer	VERB
fcis-30626	49	25	a	a	DET
fcis-30626	49	26	new	new	ADJ
fcis-30626	49	27	technical	technical	ADJ
fcis-30626	49	28	approach	approach	NOUN
fcis-30626	49	29	to	to	PART
fcis-30626	49	30	enhance	enhance	VERB
fcis-30626	49	31	formation	formation	NOUN
fcis-30626	49	32	security	security	NOUN
fcis-30626	49	33	.	.	PUNCT
fcis-30626	50	1	uav	uav	PROPN
fcis-30626	50	2	formation	formation	NOUN
fcis-30626	50	3	control	control	NOUN
fcis-30626	50	4	faces	face	VERB
fcis-30626	50	5	multidimensional	multidimensional	ADJ
fcis-30626	50	6	technical	technical	ADJ
fcis-30626	50	7	challenges	challenge	NOUN
fcis-30626	50	8	under	under	ADP
fcis-30626	50	9	deception	deception	NOUN
fcis-30626	50	10	attacks	attack	NOUN
fcis-30626	50	11	.	.	PUNCT
fcis-30626	51	1	from	from	ADP
fcis-30626	51	2	a	a	DET
fcis-30626	51	3	real	real	ADJ
fcis-30626	51	4	-	-	PUNCT
fcis-30626	51	5	time	time	NOUN
fcis-30626	51	6	control	control	NOUN
fcis-30626	51	7	perspective	perspective	NOUN
fcis-30626	51	8	,	,	PUNCT
fcis-30626	51	9	distributed	distribute	VERB
fcis-30626	51	10	formations	formation	NOUN
fcis-30626	51	11	impose	impose	VERB
fcis-30626	51	12	strict	strict	ADJ
fcis-30626	51	13	constraints	constraint	NOUN
fcis-30626	51	14	on	on	ADP
fcis-30626	51	15	communication	communication	NOUN
fcis-30626	51	16	and	and	CCONJ
fcis-30626	51	17	sensing	sense	VERB
fcis-30626	51	18	timeliness	timeliness	NOUN
fcis-30626	51	19	and	and	CCONJ
fcis-30626	51	20	integrity	integrity	NOUN
fcis-30626	51	21	,	,	PUNCT
fcis-30626	51	22	while	while	SCONJ
fcis-30626	51	23	security	security	NOUN
fcis-30626	51	24	mechanisms	mechanism	NOUN
fcis-30626	51	25	introduce	introduce	VERB
fcis-30626	51	26	additional	additional	ADJ
fcis-30626	51	27	verification	verification	NOUN
fcis-30626	51	28	overhead	overhead	NOUN
fcis-30626	51	29	,	,	PUNCT
fcis-30626	51	30	creating	create	VERB
fcis-30626	51	31	a	a	DET
fcis-30626	51	32	"	"	PUNCT
fcis-30626	51	33	security	security	NOUN
fcis-30626	51	34	-	-	PUNCT
fcis-30626	51	35	real	real	ADJ
fcis-30626	51	36	-	-	PUNCT
fcis-30626	51	37	time	time	NOUN
fcis-30626	51	38	trade	trade	NOUN
fcis-30626	51	39	-	-	PUNCT
fcis-30626	51	40	off	off	ADP
fcis-30626	51	41	"	"	PUNCT
fcis-30626	51	42	dilemma	dilemma	NOUN
fcis-30626	51	43	[	[	X
fcis-30626	51	44	20	20	NUM
fcis-30626	51	45	]	]	PUNCT
fcis-30626	51	46	.	.	PUNCT
fcis-30626	52	1	from	from	ADP
fcis-30626	52	2	an	an	DET
fcis-30626	52	3	attack	attack	NOUN
fcis-30626	52	4	impact	impact	NOUN
fcis-30626	52	5	standpoint	standpoint	NOUN
fcis-30626	52	6	,	,	PUNCT
fcis-30626	52	7	deception	deception	NOUN
fcis-30626	52	8	attacks	attack	NOUN
fcis-30626	52	9	can	can	AUX
fcis-30626	52	10	exploit	exploit	VERB
fcis-30626	52	11	the	the	DET
fcis-30626	52	12	topology	topology	NOUN
fcis-30626	52	13	-	-	PUNCT
fcis-30626	52	14	dependent	dependent	ADJ
fcis-30626	52	15	nature	nature	NOUN
fcis-30626	52	16	of	of	ADP
fcis-30626	52	17	consensus	consensus	NOUN
fcis-30626	52	18	protocols	protocol	NOUN
fcis-30626	52	19	—	—	PUNCT
fcis-30626	52	20	even	even	ADV
fcis-30626	52	21	targeting	target	VERB
fcis-30626	52	22	a	a	DET
fcis-30626	52	23	few	few	ADJ
fcis-30626	52	24	critical	critical	ADJ
fcis-30626	52	25	nodes	node	NOUN
fcis-30626	52	26	may	may	AUX
fcis-30626	52	27	destabilize	destabilize	VERB
fcis-30626	52	28	the	the	DET
fcis-30626	52	29	entire	entire	ADJ
fcis-30626	52	30	formation	formation	NOUN
fcis-30626	52	31	.	.	PUNCT
fcis-30626	53	1	from	from	ADP
fcis-30626	53	2	a	a	DET
fcis-30626	53	3	defense	defense	NOUN
fcis-30626	53	4	strategy	strategy	NOUN
fcis-30626	53	5	angle	angle	NOUN
fcis-30626	53	6	,	,	PUNCT
fcis-30626	53	7	traditional	traditional	ADJ
fcis-30626	53	8	fault	fault	NOUN
fcis-30626	53	9	-	-	PUNCT
fcis-30626	53	10	tolerant	tolerant	ADJ
fcis-30626	53	11	control	control	NOUN
fcis-30626	53	12	theories	theory	NOUN
fcis-30626	53	13	assume	assume	VERB
fcis-30626	53	14	random	random	ADJ
fcis-30626	53	15	failures	failure	NOUN
fcis-30626	53	16	,	,	PUNCT
fcis-30626	53	17	whereas	whereas	SCONJ
fcis-30626	53	18	deception	deception	NOUN
fcis-30626	53	19	attacks	attack	NOUN
fcis-30626	53	20	,	,	PUNCT
fcis-30626	53	21	as	as	SCONJ
fcis-30626	53	22	adversarial	adversarial	ADJ
fcis-30626	53	23	disturbances	disturbance	NOUN
fcis-30626	53	24	with	with	ADP
fcis-30626	53	25	intent	intent	NOUN
fcis-30626	53	26	and	and	CCONJ
fcis-30626	53	27	adaptability	adaptability	NOUN
fcis-30626	53	28	,	,	PUNCT
fcis-30626	53	29	exhibit	exhibit	VERB
fcis-30626	53	30	intelligence	intelligence	NOUN
fcis-30626	53	31	and	and	CCONJ
fcis-30626	53	32	stealth	stealth	NOUN
fcis-30626	53	33	that	that	PRON
fcis-30626	53	34	render	render	VERB
fcis-30626	53	35	existing	exist	VERB
fcis-30626	53	36	defenses	defense	NOUN
fcis-30626	53	37	ineffective	ineffective	ADJ
fcis-30626	53	38	[	[	X
fcis-30626	53	39	21	21	NUM
fcis-30626	53	40	]	]	PUNCT
fcis-30626	53	41	.	.	PUNCT
fcis-30626	54	1	current	current	ADJ
fcis-30626	54	2	research	research	NOUN
fcis-30626	54	3	has	have	VERB
fcis-30626	54	4	two	two	NUM
fcis-30626	54	5	notable	notable	ADJ
fcis-30626	54	6	gaps	gap	NOUN
fcis-30626	54	7	:	:	PUNCT
fcis-30626	54	8	from	from	ADP
fcis-30626	54	9	a	a	DET
fcis-30626	54	10	control	control	NOUN
fcis-30626	54	11	theory	theory	NOUN
fcis-30626	54	12	perspective	perspective	NOUN
fcis-30626	54	13	,	,	PUNCT
fcis-30626	54	14	mainstream	mainstream	ADJ
fcis-30626	54	15	formation	formation	NOUN
fcis-30626	54	16	control	control	NOUN
fcis-30626	54	17	algorithms	algorithm	NOUN
fcis-30626	54	18	(	(	PUNCT
fcis-30626	54	19	e.g.	e.g.	ADV
fcis-30626	54	20	,	,	PUNCT
fcis-30626	54	21	graph	graph	NOUN
fcis-30626	54	22	-	-	PUNCT
fcis-30626	54	23	based	base	VERB
fcis-30626	54	24	consensus	consensus	NOUN
fcis-30626	54	25	or	or	CCONJ
fcis-30626	54	26	leader	leader	NOUN
fcis-30626	54	27	-	-	PUNCT
fcis-30626	54	28	follower	follower	NOUN
fcis-30626	54	29	approaches	approach	NOUN
fcis-30626	54	30	)	)	PUNCT
fcis-30626	54	31	often	often	ADV
fcis-30626	54	32	assume	assume	VERB
fcis-30626	54	33	ideal	ideal	ADJ
fcis-30626	54	34	communication	communication	NOUN
fcis-30626	54	35	environments	environment	NOUN
fcis-30626	54	36	,	,	PUNCT
fcis-30626	54	37	lacking	lack	VERB
fcis-30626	54	38	inherent	inherent	ADJ
fcis-30626	54	39	defenses	defense	NOUN
fcis-30626	54	40	against	against	ADP
fcis-30626	54	41	malicious	malicious	ADJ
fcis-30626	54	42	spoofing	spoofing	NOUN
fcis-30626	54	43	.	.	PUNCT
fcis-30626	55	1	from	from	ADP
fcis-30626	55	2	a	a	DET
fcis-30626	55	3	security	security	NOUN
fcis-30626	55	4	theory	theory	NOUN
fcis-30626	55	5	perspective	perspective	NOUN
fcis-30626	55	6	,	,	PUNCT
fcis-30626	55	7	existing	exist	VERB
fcis-30626	55	8	studies	study	NOUN
fcis-30626	55	9	typically	typically	ADV
fcis-30626	55	10	treat	treat	VERB
fcis-30626	55	11	attack	attack	NOUN
fcis-30626	55	12	detection	detection	NOUN
fcis-30626	55	13	and	and	CCONJ
fcis-30626	55	14	control	control	NOUN
fcis-30626	55	15	reconfiguration	reconfiguration	NOUN
fcis-30626	55	16	as	as	ADP
fcis-30626	55	17	separate	separate	ADJ
fcis-30626	55	18	issues	issue	NOUN
fcis-30626	55	19	.	.	PUNCT
fcis-30626	56	1	at	at	ADP
fcis-30626	56	2	the	the	DET
fcis-30626	56	3	national	national	ADJ
fcis-30626	56	4	strategic	strategic	ADJ
fcis-30626	56	5	level	level	NOUN
fcis-30626	56	6	,	,	PUNCT
fcis-30626	56	7	china	china	PROPN
fcis-30626	56	8	’s	’s	PART
fcis-30626	56	9	14th	14th	ADJ
fcis-30626	56	10	five	five	NUM
fcis-30626	56	11	-	-	PUNCT
fcis-30626	56	12	year	year	NOUN
fcis-30626	56	13	plan	plan	NOUN
fcis-30626	56	14	explicitly	explicitly	ADV
fcis-30626	56	15	prioritizes	prioritize	VERB
fcis-30626	56	16	"	"	PUNCT
fcis-30626	56	17	secure	secure	ADJ
fcis-30626	56	18	autonomous	autonomous	ADJ
fcis-30626	56	19	control	control	NOUN
fcis-30626	56	20	of	of	ADP
fcis-30626	56	21	unmanned	unmanned	ADJ
fcis-30626	56	22	intelligent	intelligent	ADJ
fcis-30626	56	23	equipment	equipment	NOUN
fcis-30626	56	24	"	"	PUNCT
fcis-30626	56	25	as	as	ADP
fcis-30626	56	26	a	a	DET
fcis-30626	56	27	key	key	ADJ
fcis-30626	56	28	frontier	frontier	NOUN
fcis-30626	56	29	technology	technology	NOUN
fcis-30626	56	30	[	[	X
fcis-30626	56	31	22	22	NUM
fcis-30626	56	32	]	]	PUNCT
fcis-30626	56	33	.	.	PUNCT
fcis-30626	57	1	the	the	DET
fcis-30626	57	2	"	"	PUNCT
fcis-30626	57	3	14th	14th	ADJ
fcis-30626	57	4	five	five	NUM
fcis-30626	57	5	-	-	PUNCT
fcis-30626	57	6	year	year	NOUN
fcis-30626	57	7	plan	plan	NOUN
fcis-30626	57	8	for	for	ADP
fcis-30626	57	9	smart	smart	ADJ
fcis-30626	57	10	manufacturing	manufacturing	NOUN
fcis-30626	57	11	development	development	NOUN
fcis-30626	57	12	"	"	PUNCT
fcis-30626	57	13	issued	issue	VERB
fcis-30626	57	14	by	by	ADP
fcis-30626	57	15	the	the	DET
fcis-30626	57	16	ministry	ministry	PROPN
fcis-30626	57	17	of	of	ADP
fcis-30626	57	18	industry	industry	NOUN
fcis-30626	57	19	and	and	CCONJ
fcis-30626	57	20	information	information	NOUN
fcis-30626	57	21	technology	technology	NOUN
fcis-30626	57	22	in	in	ADP
fcis-30626	57	23	2022	2022	NUM
fcis-30626	57	24	further	far	ADV
fcis-30626	57	25	emphasizes	emphasize	VERB
fcis-30626	57	26	the	the	DET
fcis-30626	57	27	urgency	urgency	NOUN
fcis-30626	57	28	of	of	ADP
fcis-30626	57	29	enhancing	enhance	VERB
fcis-30626	57	30	unmanned	unmanned	ADJ
fcis-30626	57	31	systems	system	NOUN
fcis-30626	57	32	’	'	PUNCT
fcis-30626	57	33	reliability	reliability	NOUN
fcis-30626	57	34	in	in	ADP
fcis-30626	57	35	complex	complex	ADJ
fcis-30626	57	36	adversarial	adversarial	ADJ
fcis-30626	57	37	environments	environment	NOUN
fcis-30626	57	38	[	[	X
fcis-30626	57	39	23	23	NUM
fcis-30626	57	40	]	]	PUNCT
fcis-30626	57	41	.	.	PUNCT
fcis-30626	58	1	the	the	DET
fcis-30626	58	2	ministry	ministry	PROPN
fcis-30626	58	3	of	of	ADP
fcis-30626	58	4	science	science	PROPN
fcis-30626	58	5	and	and	CCONJ
fcis-30626	58	6	technology	technology	NOUN
fcis-30626	58	7	’s	’s	PART
fcis-30626	58	8	"	"	PUNCT
fcis-30626	58	9	new	new	ADJ
fcis-30626	58	10	generation	generation	NOUN
fcis-30626	58	11	ai	ai	VERB
fcis-30626	58	12	"	"	PUNCT
fcis-30626	58	13	major	major	ADJ
fcis-30626	58	14	project	project	NOUN
fcis-30626	58	15	also	also	ADV
fcis-30626	58	16	identifies	identify	VERB
fcis-30626	58	17	"	"	PUNCT
fcis-30626	58	18	secure	secure	ADJ
fcis-30626	58	19	autonomous	autonomous	ADJ
fcis-30626	58	20	unmanned	unmanned	ADJ
fcis-30626	58	21	systems	system	NOUN
fcis-30626	58	22	"	"	PUNCT
fcis-30626	58	23	as	as	ADP
fcis-30626	58	24	a	a	DET
fcis-30626	58	25	priority	priority	NOUN
fcis-30626	58	26	.	.	PUNCT
fcis-30626	59	1	moreover	moreover	ADV
fcis-30626	59	2	,	,	PUNCT
fcis-30626	59	3	the	the	DET
fcis-30626	59	4	"	"	PUNCT
fcis-30626	59	5	china	china	PROPN
fcis-30626	59	6	uav	uav	PROPN
fcis-30626	59	7	development	development	PROPN
fcis-30626	59	8	report	report	PROPN
fcis-30626	59	9	(	(	PUNCT
fcis-30626	59	10	2023	2023	NUM
fcis-30626	59	11	)	)	PUNCT
fcis-30626	59	12	"	"	PUNCT
fcis-30626	59	13	highlights	highlight	NOUN
fcis-30626	59	14	that	that	PRON
fcis-30626	59	15	cybersecurity	cybersecurity	NOUN
fcis-30626	59	16	attacks	attack	NOUN
fcis-30626	59	17	on	on	ADP
fcis-30626	59	18	uav	uav	PROPN
fcis-30626	59	19	systems	system	NOUN
fcis-30626	59	20	have	have	AUX
fcis-30626	59	21	become	become	VERB
fcis-30626	59	22	a	a	DET
fcis-30626	59	23	major	major	ADJ
fcis-30626	59	24	bottleneck	bottleneck	NOUN
fcis-30626	59	25	limiting	limit	VERB
fcis-30626	59	26	their	their	PRON
fcis-30626	59	27	critical	critical	ADJ
fcis-30626	59	28	applications	application	NOUN
fcis-30626	59	29	[	[	X
fcis-30626	59	30	24	24	NUM
fcis-30626	59	31	]	]	PUNCT
fcis-30626	59	32	.	.	PUNCT
fcis-30626	60	1	the	the	DET
fcis-30626	60	2	intersection	intersection	NOUN
fcis-30626	60	3	of	of	ADP
fcis-30626	60	4	these	these	DET
fcis-30626	60	5	national	national	ADJ
fcis-30626	60	6	strategic	strategic	ADJ
fcis-30626	60	7	needs	need	NOUN
fcis-30626	60	8	and	and	CCONJ
fcis-30626	60	9	technological	technological	ADJ
fcis-30626	60	10	challenges	challenge	NOUN
fcis-30626	60	11	forms	form	VERB
fcis-30626	60	12	the	the	DET
fcis-30626	60	13	core	core	ADJ
fcis-30626	60	14	academic	academic	ADJ
fcis-30626	60	15	motivation	motivation	NOUN
fcis-30626	60	16	for	for	ADP
fcis-30626	60	17	this	this	DET
fcis-30626	60	18	research	research	NOUN
fcis-30626	60	19	.	.	PUNCT
fcis-30626	61	1	1.2	1.2	NUM
fcis-30626	61	2	.	.	PUNCT
fcis-30626	61	3	research	research	NOUN
fcis-30626	61	4	significance	significance	NOUN
fcis-30626	61	5	this	this	DET
fcis-30626	61	6	study	study	NOUN
fcis-30626	61	7	focuses	focus	VERB
fcis-30626	61	8	on	on	ADP
fcis-30626	61	9	the	the	DET
fcis-30626	61	10	uav	uav	PROPN
fcis-30626	61	11	formation	formation	NOUN
fcis-30626	61	12	control	control	PROPN
fcis-30626	61	13	problem	problem	NOUN
fcis-30626	61	14	under	under	ADP
fcis-30626	61	15	deception	deception	NOUN
fcis-30626	61	16	attacks	attack	NOUN
fcis-30626	61	17	,	,	PUNCT
fcis-30626	61	18	holding	hold	VERB
fcis-30626	61	19	multifaceted	multifaceted	ADJ
fcis-30626	61	20	significance	significance	NOUN
fcis-30626	61	21	:	:	PUNCT
fcis-30626	61	22	theoretical	theoretical	ADJ
fcis-30626	61	23	perspective	perspective	NOUN
fcis-30626	61	24	:	:	PUNCT
fcis-30626	61	25	by	by	ADP
fcis-30626	61	26	integrating	integrate	VERB
fcis-30626	61	27	cybersecurity	cybersecurity	NOUN
fcis-30626	61	28	theory	theory	NOUN
fcis-30626	61	29	with	with	ADP
fcis-30626	61	30	distributed	distribute	VERB
fcis-30626	61	31	control	control	NOUN
fcis-30626	61	32	theory	theory	NOUN
fcis-30626	61	33	,	,	PUNCT
fcis-30626	61	34	this	this	DET
fcis-30626	61	35	study	study	NOUN
fcis-30626	61	36	constructs	construct	VERB
fcis-30626	61	37	a	a	DET
fcis-30626	61	38	dynamic	dynamic	ADJ
fcis-30626	61	39	model	model	NOUN
fcis-30626	61	40	of	of	ADP
fcis-30626	61	41	uav	uav	PROPN
fcis-30626	61	42	formation	formation	NOUN
fcis-30626	61	43	under	under	ADP
fcis-30626	61	44	deception	deception	NOUN
fcis-30626	61	45	attacks	attack	NOUN
fcis-30626	61	46	,	,	PUNCT
fcis-30626	61	47	enriching	enrich	VERB
fcis-30626	61	48	the	the	DET
fcis-30626	61	49	theoretical	theoretical	ADJ
fcis-30626	61	50	framework	framework	NOUN
fcis-30626	61	51	of	of	ADP
fcis-30626	61	52	secure	secure	ADJ
fcis-30626	61	53	networked	networked	ADJ
fcis-30626	61	54	control	control	NOUN
fcis-30626	61	55	systems	system	NOUN
fcis-30626	61	56	.	.	PUNCT
fcis-30626	62	1	this	this	PRON
fcis-30626	62	2	is	be	AUX
fcis-30626	62	3	particularly	particularly	ADV
fcis-30626	62	4	evident	evident	ADJ
fcis-30626	62	5	in	in	ADP
fcis-30626	62	6	the	the	DET
fcis-30626	62	7	co	co	NOUN
fcis-30626	62	8	-	-	NOUN
fcis-30626	62	9	design	design	NOUN
fcis-30626	62	10	of	of	ADP
fcis-30626	62	11	attack	attack	NOUN
fcis-30626	62	12	identification	identification	NOUN
fcis-30626	62	13	and	and	CCONJ
fcis-30626	62	14	robust	robust	ADJ
fcis-30626	62	15	control	control	NOUN
fcis-30626	62	16	.	.	PUNCT
fcis-30626	63	1	technical	technical	ADJ
fcis-30626	63	2	perspective	perspective	PROPN
fcis-30626	63	3	:	:	PUNCT
fcis-30626	63	4	the	the	DET
fcis-30626	63	5	proposed	propose	VERB
fcis-30626	63	6	anti	anti	ADJ
fcis-30626	63	7	-	-	ADJ
fcis-30626	63	8	deception	deception	ADJ
fcis-30626	63	9	attack	attack	NOUN
fcis-30626	63	10	formation	formation	NOUN
fcis-30626	63	11	control	control	NOUN
fcis-30626	63	12	strategy	strategy	NOUN
fcis-30626	63	13	will	will	AUX
fcis-30626	63	14	enhance	enhance	VERB
fcis-30626	63	15	the	the	DET
fcis-30626	63	16	survivability	survivability	NOUN
fcis-30626	63	17	and	and	CCONJ
fcis-30626	63	18	mission	mission	NOUN
fcis-30626	63	19	reliability	reliability	NOUN
fcis-30626	63	20	of	of	ADP
fcis-30626	63	21	uav	uav	PROPN
fcis-30626	63	22	systems	system	NOUN
fcis-30626	63	23	in	in	ADP
fcis-30626	63	24	complex	complex	ADJ
fcis-30626	63	25	adversarial	adversarial	ADJ
fcis-30626	63	26	environments	environment	NOUN
fcis-30626	63	27	.	.	PUNCT
fcis-30626	64	1	the	the	DET
fcis-30626	64	2	related	relate	VERB
fcis-30626	64	3	technologies	technology	NOUN
fcis-30626	64	4	can	can	AUX
fcis-30626	64	5	effectively	effectively	ADV
fcis-30626	64	6	mitigate	mitigate	VERB
fcis-30626	64	7	system	system	NOUN
fcis-30626	64	8	risks	risk	NOUN
fcis-30626	64	9	posed	pose	VERB
fcis-30626	64	10	by	by	ADP
fcis-30626	64	11	security	security	NOUN
fcis-30626	64	12	threats	threat	NOUN
fcis-30626	64	13	and	and	CCONJ
fcis-30626	64	14	improve	improve	VERB
fcis-30626	64	15	the	the	DET
fcis-30626	64	16	operational	operational	ADJ
fcis-30626	64	17	value	value	NOUN
fcis-30626	64	18	of	of	ADP
fcis-30626	64	19	the	the	DET
fcis-30626	64	20	equipment	equipment	NOUN
fcis-30626	64	21	.	.	PUNCT
fcis-30626	65	1	application	application	NOUN
fcis-30626	65	2	perspective	perspective	NOUN
fcis-30626	65	3	:	:	PUNCT
fcis-30626	65	4	with	with	ADP
fcis-30626	65	5	the	the	DET
fcis-30626	65	6	widespread	widespread	ADJ
fcis-30626	65	7	use	use	NOUN
fcis-30626	65	8	of	of	ADP
fcis-30626	65	9	uav	uav	PROPN
fcis-30626	65	10	formations	formation	NOUN
fcis-30626	65	11	in	in	ADP
fcis-30626	65	12	civilian	civilian	ADJ
fcis-30626	65	13	fields	field	NOUN
fcis-30626	65	14	such	such	ADJ
fcis-30626	65	15	as	as	ADP
fcis-30626	65	16	urban	urban	ADJ
fcis-30626	65	17	logistics	logistic	NOUN
fcis-30626	65	18	and	and	CCONJ
fcis-30626	65	19	emergency	emergency	NOUN
fcis-30626	65	20	rescue	rescue	NOUN
fcis-30626	65	21	,	,	PUNCT
fcis-30626	65	22	the	the	DET
fcis-30626	65	23	findings	finding	NOUN
fcis-30626	65	24	of	of	ADP
fcis-30626	65	25	this	this	DET
fcis-30626	65	26	study	study	NOUN
fcis-30626	65	27	will	will	AUX
fcis-30626	65	28	directly	directly	ADV
fcis-30626	65	29	promote	promote	VERB
fcis-30626	65	30	the	the	DET
fcis-30626	65	31	safe	safe	ADJ
fcis-30626	65	32	deployment	deployment	NOUN
fcis-30626	65	33	and	and	CCONJ
fcis-30626	65	34	industrialization	industrialization	NOUN
fcis-30626	65	35	of	of	ADP
fcis-30626	65	36	uav	uav	PROPN
fcis-30626	65	37	technology	technology	PROPN
fcis-30626	65	38	.	.	PUNCT
fcis-30626	66	1	research	research	NOUN
fcis-30626	66	2	on	on	ADP
fcis-30626	66	3	uav	uav	PROPN
fcis-30626	66	4	formation	formation	NOUN
fcis-30626	66	5	control	control	NOUN
fcis-30626	66	6	under	under	ADP
fcis-30626	66	7	deception	deception	NOUN
fcis-30626	66	8	attacks	attack	NOUN
fcis-30626	66	9	not	not	PART
fcis-30626	66	10	only	only	ADV
fcis-30626	66	11	explores	explore	NOUN
fcis-30626	66	12	cutting	cut	VERB
fcis-30626	66	13	-	-	PUNCT
fcis-30626	66	14	edge	edge	NOUN
fcis-30626	66	15	academic	academic	ADJ
fcis-30626	66	16	challenges	challenge	NOUN
fcis-30626	66	17	but	but	CCONJ
fcis-30626	66	18	also	also	ADV
fcis-30626	66	19	responds	respond	VERB
fcis-30626	66	20	to	to	ADP
fcis-30626	66	21	national	national	ADJ
fcis-30626	66	22	strategic	strategic	ADJ
fcis-30626	66	23	needs	need	NOUN
fcis-30626	66	24	and	and	CCONJ
fcis-30626	66	25	industrial	industrial	ADJ
fcis-30626	66	26	development	development	NOUN
fcis-30626	66	27	requirements	requirement	NOUN
fcis-30626	66	28	.	.	PUNCT
fcis-30626	67	1	the	the	DET
fcis-30626	67	2	outcomes	outcome	NOUN
fcis-30626	67	3	will	will	AUX
fcis-30626	67	4	provide	provide	VERB
fcis-30626	67	5	theoretical	theoretical	ADJ
fcis-30626	67	6	foundations	foundation	NOUN
fcis-30626	67	7	and	and	CCONJ
fcis-30626	67	8	technical	technical	ADJ
fcis-30626	67	9	safeguards	safeguard	NOUN
fcis-30626	67	10	for	for	ADP
fcis-30626	67	11	building	build	VERB
fcis-30626	67	12	safer	safe	ADJ
fcis-30626	67	13	and	and	CCONJ
fcis-30626	67	14	more	more	ADV
fcis-30626	67	15	reliable	reliable	ADJ
fcis-30626	67	16	intelligent	intelligent	ADJ
fcis-30626	67	17	unmanned	unmanned	ADJ
fcis-30626	67	18	systems	system	NOUN
fcis-30626	67	19	.	.	PUNCT
fcis-30626	68	1	2	2	X
fcis-30626	68	2	.	.	X
fcis-30626	68	3	research	research	NOUN
fcis-30626	68	4	status	status	NOUN
fcis-30626	68	5	of	of	ADP
fcis-30626	68	6	uav	uav	PROPN
fcis-30626	68	7	formation	formation	NOUN
fcis-30626	68	8	control	control	VERB
fcis-30626	68	9	this	this	DET
fcis-30626	68	10	section	section	NOUN
fcis-30626	68	11	systematically	systematically	ADV
fcis-30626	68	12	reviews	review	VERB
fcis-30626	68	13	domestic	domestic	ADJ
fcis-30626	68	14	and	and	CCONJ
fcis-30626	68	15	international	international	ADJ
fcis-30626	68	16	research	research	NOUN
fcis-30626	68	17	on	on	ADP
fcis-30626	68	18	uav	uav	PROPN
fcis-30626	68	19	formation	formation	PROPN
fcis-30626	68	20	control	control	PROPN
fcis-30626	68	21	technology	technology	NOUN
fcis-30626	68	22	advancements	advancement	NOUN
fcis-30626	68	23	,	,	PUNCT
fcis-30626	68	24	cybersecurity	cybersecurity	NOUN
fcis-30626	68	25	research	research	NOUN
fcis-30626	68	26	trends	trend	NOUN
fcis-30626	68	27	,	,	PUNCT
fcis-30626	68	28	spoofing	spoof	VERB
fcis-30626	68	29	attack	attack	NOUN
fcis-30626	68	30	theory	theory	NOUN
fcis-30626	68	31	and	and	CCONJ
fcis-30626	68	32	technology	technology	NOUN
fcis-30626	68	33	,	,	PUNCT
fcis-30626	68	34	and	and	CCONJ
fcis-30626	68	35	the	the	DET
fcis-30626	68	36	latest	late	ADJ
fcis-30626	68	37	progress	progress	NOUN
fcis-30626	68	38	in	in	ADP
fcis-30626	68	39	uav	uav	PROPN
fcis-30626	68	40	formation	formation	NOUN
fcis-30626	68	41	control	control	NOUN
fcis-30626	68	42	under	under	ADP
fcis-30626	68	43	deception	deception	NOUN
fcis-30626	68	44	attacks	attack	NOUN
fcis-30626	68	45	.	.	PUNCT
fcis-30626	69	1	it	it	PRON
fcis-30626	69	2	analyzes	analyze	VERB
fcis-30626	69	3	the	the	DET
fcis-30626	69	4	strengths	strength	NOUN
fcis-30626	69	5	and	and	CCONJ
fcis-30626	69	6	weaknesses	weakness	NOUN
fcis-30626	69	7	of	of	ADP
fcis-30626	69	8	existing	exist	VERB
fcis-30626	69	9	studies	study	NOUN
fcis-30626	69	10	to	to	PART
fcis-30626	69	11	lay	lay	VERB
fcis-30626	69	12	the	the	DET
fcis-30626	69	13	foundation	foundation	NOUN
fcis-30626	69	14	for	for	ADP
fcis-30626	69	15	this	this	DET
fcis-30626	69	16	paper	paper	NOUN
fcis-30626	69	17	's	's	PART
fcis-30626	69	18	research	research	NOUN
fcis-30626	69	19	[	[	X
fcis-30626	69	20	25	25	NUM
fcis-30626	69	21	]	]	PUNCT
fcis-30626	69	22	.	.	PUNCT
fcis-30626	70	1	uav	uav	PROPN
fcis-30626	70	2	formation	formation	PROPN
fcis-30626	70	3	control	control	PROPN
fcis-30626	70	4	technology	technology	PROPN
fcis-30626	70	5	originated	originate	VERB
fcis-30626	70	6	in	in	ADP
fcis-30626	70	7	the	the	DET
fcis-30626	70	8	late	late	ADJ
fcis-30626	70	9	1990s	1990	NOUN
fcis-30626	70	10	,	,	PUNCT
fcis-30626	70	11	stemming	stem	VERB
fcis-30626	70	12	from	from	ADP
fcis-30626	70	13	theoretical	theoretical	ADJ
fcis-30626	70	14	breakthroughs	breakthrough	NOUN
fcis-30626	70	15	in	in	ADP
fcis-30626	70	16	multiagent	multiagent	NOUN
fcis-30626	70	17	systems	system	NOUN
fcis-30626	70	18	(	(	PUNCT
fcis-30626	70	19	mas	mas	PROPN
fcis-30626	70	20	)	)	PUNCT
fcis-30626	70	21	research	research	NOUN
fcis-30626	71	1	[	[	X
fcis-30626	71	2	26	26	NUM
fcis-30626	71	3	]	]	PUNCT
fcis-30626	71	4	.	.	PUNCT
fcis-30626	72	1	in	in	ADP
fcis-30626	72	2	the	the	DET
fcis-30626	72	3	early	early	ADJ
fcis-30626	72	4	21st	21st	ADJ
fcis-30626	72	5	century	century	NOUN
fcis-30626	72	6	,	,	PUNCT
fcis-30626	72	7	with	with	ADP
fcis-30626	72	8	declining	decline	VERB
fcis-30626	72	9	hardware	hardware	NOUN
fcis-30626	72	10	costs	cost	NOUN
fcis-30626	72	11	and	and	CCONJ
fcis-30626	72	12	improved	improve	VERB
fcis-30626	72	13	computational	computational	ADJ
fcis-30626	72	14	capabilities	capability	NOUN
fcis-30626	72	15	,	,	PUNCT
fcis-30626	72	16	uav	uav	PROPN
fcis-30626	72	17	formation	formation	NOUN
fcis-30626	72	18	control	control	NOUN
fcis-30626	72	19	gradually	gradually	ADV
fcis-30626	72	20	evolved	evolve	VERB
fcis-30626	72	21	from	from	ADP
fcis-30626	72	22	centralized	centralized	ADJ
fcis-30626	72	23	architectures	architecture	NOUN
fcis-30626	72	24	to	to	ADP
fcis-30626	72	25	distributed	distributed	ADJ
fcis-30626	72	26	architectures	architecture	NOUN
fcis-30626	72	27	[	[	X
fcis-30626	72	28	27	27	NUM
fcis-30626	72	29	]	]	PUNCT
fcis-30626	72	30	.	.	PUNCT
fcis-30626	73	1	centralized	centralized	ADJ
fcis-30626	73	2	control	control	NOUN
fcis-30626	73	3	relies	rely	VERB
fcis-30626	73	4	on	on	ADP
fcis-30626	73	5	a	a	DET
fcis-30626	73	6	central	central	ADJ
fcis-30626	73	7	processing	processing	NOUN
fcis-30626	73	8	unit	unit	NOUN
fcis-30626	73	9	for	for	ADP
fcis-30626	73	10	unified	unified	ADJ
fcis-30626	73	11	decision	decision	NOUN
fcis-30626	73	12	-	-	PUNCT
fcis-30626	73	13	making	making	NOUN
fcis-30626	73	14	,	,	PUNCT
fcis-30626	73	15	while	while	SCONJ
fcis-30626	73	16	distributed	distributed	ADJ
fcis-30626	73	17	control	control	NOUN
fcis-30626	73	18	allows	allow	VERB
fcis-30626	73	19	individual	individual	ADJ
fcis-30626	73	20	uavs	uavs	NOUN
fcis-30626	73	21	to	to	PART
fcis-30626	73	22	make	make	VERB
fcis-30626	73	23	autonomous	autonomous	ADJ
fcis-30626	73	24	decisions	decision	NOUN
fcis-30626	73	25	based	base	VERB
fcis-30626	73	26	on	on	ADP
fcis-30626	73	27	local	local	ADJ
fcis-30626	73	28	information	information	NOUN
fcis-30626	73	29	,	,	PUNCT
fcis-30626	73	30	offering	offer	VERB
fcis-30626	73	31	greater	great	ADJ
fcis-30626	73	32	scalability	scalability	NOUN
fcis-30626	73	33	and	and	CCONJ
fcis-30626	73	34	fault	fault	VERB
fcis-30626	73	35	tolerance	tolerance	NOUN
fcis-30626	73	36	[	[	X
fcis-30626	73	37	28	28	NUM
fcis-30626	73	38	]	]	PUNCT
fcis-30626	73	39	.	.	PUNCT
fcis-30626	74	1	existing	exist	VERB
fcis-30626	74	2	research	research	NOUN
fcis-30626	74	3	methods	method	NOUN
fcis-30626	74	4	can	can	AUX
fcis-30626	74	5	be	be	AUX
fcis-30626	74	6	categorized	categorize	VERB
fcis-30626	74	7	as	as	SCONJ
fcis-30626	74	8	follows	follow	VERB
fcis-30626	74	9	:	:	PUNCT
fcis-30626	74	10	consensus	consensus	NOUN
fcis-30626	74	11	-	-	PUNCT
fcis-30626	74	12	based	base	VERB
fcis-30626	74	13	control	control	NOUN
fcis-30626	74	14	,	,	PUNCT
fcis-30626	74	15	leader	leader	NOUN
fcis-30626	74	16	-	-	PUNCT
fcis-30626	74	17	follower	follower	NOUN
fcis-30626	74	18	159	159	NUM
fcis-30626	74	19	approaches	approach	NOUN
fcis-30626	74	20	,	,	PUNCT
fcis-30626	74	21	distributed	distribute	VERB
fcis-30626	74	22	control	control	NOUN
fcis-30626	74	23	and	and	CCONJ
fcis-30626	74	24	consensus	consensus	NOUN
fcis-30626	74	25	protocols	protocol	NOUN
fcis-30626	74	26	,	,	PUNCT
fcis-30626	74	27	fault	fault	NOUN
fcis-30626	74	28	-	-	PUNCT
fcis-30626	74	29	tolerant	tolerant	ADJ
fcis-30626	74	30	control	control	NOUN
fcis-30626	74	31	(	(	PUNCT
fcis-30626	74	32	ftc	ftc	PROPN
fcis-30626	74	33	)	)	PUNCT
fcis-30626	74	34	,	,	PUNCT
fcis-30626	74	35	and	and	CCONJ
fcis-30626	74	36	robust	robust	ADJ
fcis-30626	74	37	control	control	NOUN
fcis-30626	74	38	strategies	strategy	NOUN
fcis-30626	74	39	.	.	PUNCT
fcis-30626	75	1	consensus	consensus	NOUN
fcis-30626	75	2	-	-	PUNCT
fcis-30626	75	3	based	base	VERB
fcis-30626	75	4	uav	uav	PROPN
fcis-30626	75	5	formation	formation	NOUN
fcis-30626	75	6	control	control	NOUN
fcis-30626	75	7	is	be	AUX
fcis-30626	75	8	a	a	DET
fcis-30626	75	9	method	method	NOUN
fcis-30626	75	10	that	that	PRON
fcis-30626	75	11	coordinates	coordinate	VERB
fcis-30626	75	12	information	information	NOUN
fcis-30626	75	13	sharing	sharing	NOUN
fcis-30626	75	14	and	and	CCONJ
fcis-30626	75	15	decision	decision	NOUN
fcis-30626	75	16	-	-	PUNCT
fcis-30626	75	17	making	making	NOUN
fcis-30626	75	18	among	among	ADP
fcis-30626	75	19	uavs	uavs	NOUN
fcis-30626	75	20	to	to	PART
fcis-30626	75	21	achieve	achieve	VERB
fcis-30626	75	22	collective	collective	ADJ
fcis-30626	75	23	behavioral	behavioral	ADJ
fcis-30626	75	24	consistency	consistency	NOUN
fcis-30626	75	25	.	.	PUNCT
fcis-30626	76	1	this	this	DET
fcis-30626	76	2	approach	approach	NOUN
fcis-30626	76	3	emphasizes	emphasize	VERB
fcis-30626	76	4	mutual	mutual	ADJ
fcis-30626	76	5	communication	communication	NOUN
fcis-30626	76	6	and	and	CCONJ
fcis-30626	76	7	feedback	feedback	NOUN
fcis-30626	76	8	among	among	ADP
fcis-30626	76	9	uavs	uavs	NOUN
fcis-30626	76	10	in	in	ADP
fcis-30626	76	11	dynamic	dynamic	ADJ
fcis-30626	76	12	environments	environment	NOUN
fcis-30626	76	13	to	to	PART
fcis-30626	76	14	reach	reach	VERB
fcis-30626	76	15	a	a	DET
fcis-30626	76	16	unified	unified	ADJ
fcis-30626	76	17	state	state	NOUN
fcis-30626	76	18	or	or	CCONJ
fcis-30626	76	19	objective	objective	ADJ
fcis-30626	76	20	,	,	PUNCT
fcis-30626	76	21	thereby	thereby	ADV
fcis-30626	76	22	enhancing	enhance	VERB
fcis-30626	76	23	overall	overall	ADJ
fcis-30626	76	24	formation	formation	NOUN
fcis-30626	76	25	performance	performance	NOUN
fcis-30626	76	26	and	and	CCONJ
fcis-30626	76	27	collaborative	collaborative	ADJ
fcis-30626	76	28	efficiency	efficiency	NOUN
fcis-30626	76	29	.	.	PUNCT
fcis-30626	77	1	while	while	SCONJ
fcis-30626	77	2	this	this	DET
fcis-30626	77	3	strategy	strategy	NOUN
fcis-30626	77	4	focuses	focus	VERB
fcis-30626	77	5	on	on	ADP
fcis-30626	77	6	individual	individual	ADJ
fcis-30626	77	7	behavioral	behavioral	ADJ
fcis-30626	77	8	norms	norm	NOUN
fcis-30626	77	9	,	,	PUNCT
fcis-30626	77	10	it	it	PRON
fcis-30626	77	11	prioritizes	prioritize	VERB
fcis-30626	77	12	group	group	NOUN
fcis-30626	77	13	synergy	synergy	NOUN
fcis-30626	77	14	,	,	PUNCT
fcis-30626	77	15	demonstrating	demonstrate	VERB
fcis-30626	77	16	greater	great	ADJ
fcis-30626	77	17	flexibility	flexibility	NOUN
fcis-30626	77	18	and	and	CCONJ
fcis-30626	77	19	adaptability	adaptability	NOUN
fcis-30626	77	20	in	in	ADP
fcis-30626	77	21	handling	handle	VERB
fcis-30626	77	22	complex	complex	ADJ
fcis-30626	77	23	tasks	task	NOUN
fcis-30626	77	24	and	and	CCONJ
fcis-30626	77	25	unexpected	unexpected	ADJ
fcis-30626	77	26	events	event	NOUN
fcis-30626	77	27	.	.	PUNCT
fcis-30626	78	1	however	however	ADV
fcis-30626	78	2	,	,	PUNCT
fcis-30626	78	3	existing	exist	VERB
fcis-30626	78	4	consensus	consensus	NOUN
fcis-30626	78	5	control	control	NOUN
fcis-30626	78	6	algorithms	algorithm	NOUN
fcis-30626	78	7	often	often	ADV
fcis-30626	78	8	fail	fail	VERB
fcis-30626	78	9	to	to	PART
fcis-30626	78	10	maintain	maintain	VERB
fcis-30626	78	11	formation	formation	NOUN
fcis-30626	78	12	stability	stability	NOUN
fcis-30626	78	13	and	and	CCONJ
fcis-30626	78	14	consistency	consistency	NOUN
fcis-30626	78	15	under	under	ADP
fcis-30626	78	16	communication	communication	NOUN
fcis-30626	78	17	deception	deception	NOUN
fcis-30626	78	18	attacks	attack	NOUN
fcis-30626	78	19	,	,	PUNCT
fcis-30626	78	20	highlighting	highlight	VERB
fcis-30626	78	21	the	the	DET
fcis-30626	78	22	urgent	urgent	ADJ
fcis-30626	78	23	need	need	NOUN
fcis-30626	78	24	for	for	ADP
fcis-30626	78	25	more	more	ADV
fcis-30626	78	26	robust	robust	ADJ
fcis-30626	78	27	control	control	NOUN
fcis-30626	78	28	mechanisms	mechanism	NOUN
fcis-30626	78	29	to	to	PART
fcis-30626	78	30	improve	improve	VERB
fcis-30626	78	31	interference	interference	NOUN
fcis-30626	78	32	resistance	resistance	NOUN
fcis-30626	78	33	in	in	ADP
fcis-30626	78	34	adverse	adverse	ADJ
fcis-30626	78	35	environments	environment	NOUN
fcis-30626	78	36	.	.	PUNCT
fcis-30626	79	1	relevant	relevant	ADJ
fcis-30626	79	2	studies	study	NOUN
fcis-30626	79	3	include	include	VERB
fcis-30626	79	4	:	:	PUNCT
fcis-30626	79	5	xu	xu	PROPN
fcis-30626	79	6	et	et	PROPN
fcis-30626	79	7	al	al	PROPN
fcis-30626	79	8	.	.	PUNCT
fcis-30626	80	1	[	[	X
fcis-30626	80	2	29	29	NUM
fcis-30626	80	3	]	]	PUNCT
fcis-30626	80	4	investigated	investigate	VERB
fcis-30626	80	5	consensus	consensus	NOUN
fcis-30626	80	6	-	-	PUNCT
fcis-30626	80	7	based	base	VERB
fcis-30626	80	8	formation	formation	NOUN
fcis-30626	80	9	control	control	NOUN
fcis-30626	80	10	for	for	ADP
fcis-30626	80	11	multi	multi	ADJ
fcis-30626	80	12	-	-	PROPN
fcis-30626	80	13	uav	uav	ADJ
fcis-30626	80	14	systems	system	NOUN
fcis-30626	80	15	,	,	PUNCT
fcis-30626	80	16	designing	design	VERB
fcis-30626	80	17	a	a	DET
fcis-30626	80	18	consensus	consensus	NOUN
fcis-30626	80	19	protocol	protocol	NOUN
fcis-30626	80	20	for	for	ADP
fcis-30626	80	21	strongly	strongly	ADV
fcis-30626	80	22	connected	connect	VERB
fcis-30626	80	23	topologies	topology	NOUN
fcis-30626	80	24	using	use	VERB
fcis-30626	80	25	algebraic	algebraic	ADJ
fcis-30626	80	26	graph	graph	NOUN
fcis-30626	80	27	theory	theory	NOUN
fcis-30626	80	28	and	and	CCONJ
fcis-30626	80	29	backstepping	backstepping	NOUN
fcis-30626	80	30	techniques	technique	NOUN
fcis-30626	80	31	.	.	PUNCT
fcis-30626	81	1	their	their	PRON
fcis-30626	81	2	results	result	NOUN
fcis-30626	81	3	were	be	AUX
fcis-30626	81	4	extended	extend	VERB
fcis-30626	81	5	to	to	ADP
fcis-30626	81	6	directed	direct	VERB
fcis-30626	81	7	topologies	topology	NOUN
fcis-30626	81	8	,	,	PUNCT
fcis-30626	81	9	with	with	ADP
fcis-30626	81	10	simulations	simulation	NOUN
fcis-30626	81	11	validating	validate	VERB
fcis-30626	81	12	the	the	DET
fcis-30626	81	13	method	method	NOUN
fcis-30626	81	14	's	's	PART
fcis-30626	81	15	effectiveness	effectiveness	NOUN
fcis-30626	81	16	.	.	PUNCT
fcis-30626	82	1	similarly	similarly	ADV
fcis-30626	82	2	,	,	PUNCT
fcis-30626	82	3	kuriki	kuriki	PROPN
fcis-30626	82	4	et	et	PROPN
fcis-30626	82	5	al	al	PROPN
fcis-30626	82	6	.	.	PUNCT
fcis-30626	83	1	[	[	X
fcis-30626	83	2	30	30	NUM
fcis-30626	83	3	]	]	PUNCT
fcis-30626	83	4	proposed	propose	VERB
fcis-30626	83	5	a	a	DET
fcis-30626	83	6	consensus	consensus	NOUN
fcis-30626	83	7	-	-	PUNCT
fcis-30626	83	8	based	base	VERB
fcis-30626	83	9	cooperative	cooperative	ADJ
fcis-30626	83	10	formation	formation	NOUN
fcis-30626	83	11	control	control	NOUN
fcis-30626	83	12	strategy	strategy	NOUN
fcis-30626	83	13	incorporating	incorporate	VERB
fcis-30626	83	14	collision	collision	NOUN
fcis-30626	83	15	avoidance	avoidance	NOUN
fcis-30626	83	16	via	via	ADP
fcis-30626	83	17	artificial	artificial	ADJ
fcis-30626	83	18	potential	potential	ADJ
fcis-30626	83	19	fields	field	NOUN
fcis-30626	83	20	,	,	PUNCT
fcis-30626	83	21	ensuring	ensure	VERB
fcis-30626	83	22	convergence	convergence	NOUN
fcis-30626	83	23	even	even	ADV
fcis-30626	83	24	when	when	SCONJ
fcis-30626	83	25	both	both	DET
fcis-30626	83	26	formation	formation	NOUN
fcis-30626	83	27	control	control	NOUN
fcis-30626	83	28	and	and	CCONJ
fcis-30626	83	29	collision	collision	NOUN
fcis-30626	83	30	avoidance	avoidance	NOUN
fcis-30626	83	31	algorithms	algorithm	NOUN
fcis-30626	83	32	are	be	AUX
fcis-30626	83	33	active	active	ADJ
fcis-30626	83	34	.	.	PUNCT
fcis-30626	84	1	leader	leader	NOUN
fcis-30626	84	2	-	-	PUNCT
fcis-30626	84	3	follower	follower	NOUN
fcis-30626	84	4	-	-	PUNCT
fcis-30626	84	5	based	base	VERB
fcis-30626	84	6	uav	uav	PROPN
fcis-30626	84	7	formation	formation	NOUN
fcis-30626	84	8	control	control	NOUN
fcis-30626	84	9	is	be	AUX
fcis-30626	84	10	a	a	DET
fcis-30626	84	11	strategy	strategy	NOUN
fcis-30626	84	12	where	where	SCONJ
fcis-30626	84	13	a	a	DET
fcis-30626	84	14	leader	leader	NOUN
fcis-30626	84	15	uav	uav	PROPN
fcis-30626	84	16	serves	serve	VERB
fcis-30626	84	17	as	as	ADP
fcis-30626	84	18	a	a	DET
fcis-30626	84	19	reference	reference	NOUN
fcis-30626	84	20	point	point	NOUN
fcis-30626	84	21	,	,	PUNCT
fcis-30626	84	22	and	and	CCONJ
fcis-30626	84	23	follower	follower	NOUN
fcis-30626	84	24	uavs	uavs	PROPN
fcis-30626	84	25	dynamically	dynamically	ADV
fcis-30626	84	26	adjust	adjust	VERB
fcis-30626	84	27	their	their	PRON
fcis-30626	84	28	states	state	NOUN
fcis-30626	84	29	and	and	CCONJ
fcis-30626	84	30	positions	position	NOUN
fcis-30626	84	31	accordingly	accordingly	ADV
fcis-30626	84	32	.	.	PUNCT
fcis-30626	85	1	this	this	DET
fcis-30626	85	2	method	method	NOUN
fcis-30626	85	3	emphasizes	emphasize	VERB
fcis-30626	85	4	the	the	DET
fcis-30626	85	5	leader	leader	NOUN
fcis-30626	85	6	's	's	PART
fcis-30626	85	7	guiding	guide	VERB
fcis-30626	85	8	role	role	NOUN
fcis-30626	85	9	,	,	PUNCT
fcis-30626	85	10	ensuring	ensure	VERB
fcis-30626	85	11	followers	follower	NOUN
fcis-30626	85	12	maintain	maintain	VERB
fcis-30626	85	13	relative	relative	ADJ
fcis-30626	85	14	positions	position	NOUN
fcis-30626	85	15	and	and	CCONJ
fcis-30626	85	16	speeds	speed	NOUN
fcis-30626	85	17	while	while	SCONJ
fcis-30626	85	18	flexibly	flexibly	ADV
fcis-30626	85	19	responding	respond	VERB
fcis-30626	85	20	to	to	ADP
fcis-30626	85	21	environmental	environmental	ADJ
fcis-30626	85	22	changes	change	NOUN
fcis-30626	85	23	and	and	CCONJ
fcis-30626	85	24	mission	mission	NOUN
fcis-30626	85	25	requirements	requirement	NOUN
fcis-30626	85	26	,	,	PUNCT
fcis-30626	85	27	thereby	thereby	ADV
fcis-30626	85	28	achieving	achieve	VERB
fcis-30626	85	29	efficient	efficient	ADJ
fcis-30626	85	30	coordination	coordination	NOUN
fcis-30626	85	31	and	and	CCONJ
fcis-30626	85	32	stability	stability	NOUN
fcis-30626	85	33	.	.	PUNCT
fcis-30626	86	1	relevant	relevant	ADJ
fcis-30626	86	2	studies	study	NOUN
fcis-30626	86	3	include	include	VERB
fcis-30626	86	4	:	:	PUNCT
fcis-30626	86	5	yuan	yuan	NOUN
fcis-30626	86	6	et	et	NOUN
fcis-30626	86	7	al	al	PROPN
fcis-30626	86	8	.	.	PUNCT
fcis-30626	87	1	[	[	X
fcis-30626	87	2	31	31	NUM
fcis-30626	87	3	]	]	PUNCT
fcis-30626	87	4	adopted	adopt	VERB
fcis-30626	87	5	a	a	DET
fcis-30626	87	6	leader	leader	NOUN
fcis-30626	87	7	-	-	PUNCT
fcis-30626	87	8	follower	follower	NOUN
fcis-30626	87	9	approach	approach	NOUN
fcis-30626	87	10	using	use	VERB
fcis-30626	87	11	a	a	DET
fcis-30626	87	12	datadriven	datadriven	ADJ
fcis-30626	87	13	model	model	NOUN
fcis-30626	87	14	-	-	PUNCT
fcis-30626	87	15	free	free	ADJ
fcis-30626	87	16	adaptive	adaptive	ADJ
fcis-30626	87	17	controller	controller	NOUN
fcis-30626	87	18	for	for	ADP
fcis-30626	87	19	trajectory	trajectory	NOUN
fcis-30626	87	20	tracking	tracking	NOUN
fcis-30626	87	21	.	.	PUNCT
fcis-30626	88	1	the	the	DET
fcis-30626	88	2	leader	leader	NOUN
fcis-30626	88	3	uav	uav	PROPN
fcis-30626	88	4	employed	employ	VERB
fcis-30626	88	5	an	an	DET
fcis-30626	88	6	error	error	NOUN
fcis-30626	88	7	-	-	PUNCT
fcis-30626	88	8	sign	sign	NOUN
fcis-30626	88	9	-	-	PUNCT
fcis-30626	88	10	based	base	VERB
fcis-30626	88	11	robust	robust	ADJ
fcis-30626	88	12	integral	integral	ADJ
fcis-30626	88	13	controller	controller	NOUN
fcis-30626	88	14	,	,	PUNCT
fcis-30626	88	15	while	while	SCONJ
fcis-30626	88	16	follower	follower	NOUN
fcis-30626	88	17	uavs	uavs	PROPN
fcis-30626	88	18	used	use	VERB
fcis-30626	88	19	an	an	DET
fcis-30626	88	20	improved	improved	ADJ
fcis-30626	88	21	sliding	slide	VERB
fcis-30626	88	22	mode	mode	NOUN
fcis-30626	88	23	control	control	NOUN
fcis-30626	88	24	(	(	PUNCT
fcis-30626	88	25	ismc	ismc	NOUN
fcis-30626	88	26	)	)	PUNCT
fcis-30626	88	27	strategy	strategy	NOUN
fcis-30626	88	28	for	for	ADP
fcis-30626	88	29	cooperative	cooperative	ADJ
fcis-30626	88	30	formation	formation	NOUN
fcis-30626	88	31	control	control	NOUN
fcis-30626	88	32	.	.	PUNCT
fcis-30626	89	1	this	this	DET
fcis-30626	89	2	method	method	NOUN
fcis-30626	89	3	eliminated	eliminate	VERB
fcis-30626	89	4	reliance	reliance	NOUN
fcis-30626	89	5	on	on	ADP
fcis-30626	89	6	uav	uav	PROPN
fcis-30626	89	7	mathematical	mathematical	ADJ
fcis-30626	89	8	models	model	NOUN
fcis-30626	89	9	and	and	CCONJ
fcis-30626	89	10	demonstrated	demonstrate	VERB
fcis-30626	89	11	high	high	ADJ
fcis-30626	89	12	control	control	NOUN
fcis-30626	89	13	accuracy	accuracy	NOUN
fcis-30626	89	14	and	and	CCONJ
fcis-30626	89	15	robustness	robustness	NOUN
fcis-30626	89	16	in	in	ADP
fcis-30626	89	17	simulations	simulation	NOUN
fcis-30626	89	18	.	.	PUNCT
fcis-30626	90	1	ranjan	ranjan	PROPN
fcis-30626	90	2	et	et	PROPN
fcis-30626	90	3	al	al	PROPN
fcis-30626	90	4	.	.	PUNCT
fcis-30626	91	1	[	[	X
fcis-30626	91	2	32	32	NUM
fcis-30626	91	3	]	]	PUNCT
fcis-30626	91	4	proposed	propose	VERB
fcis-30626	91	5	a	a	DET
fcis-30626	91	6	flexible	flexible	ADJ
fcis-30626	91	7	formation	formation	NOUN
fcis-30626	91	8	scheme	scheme	NOUN
fcis-30626	91	9	where	where	SCONJ
fcis-30626	91	10	follower	follower	NOUN
fcis-30626	91	11	uavs	uavs	NOUN
fcis-30626	91	12	maintain	maintain	VERB
fcis-30626	91	13	fixed	fixed	ADJ
fcis-30626	91	14	relative	relative	ADJ
fcis-30626	91	15	distances	distance	NOUN
fcis-30626	91	16	but	but	CCONJ
fcis-30626	91	17	adjust	adjust	VERB
fcis-30626	91	18	their	their	PRON
fcis-30626	91	19	orientations	orientation	NOUN
fcis-30626	91	20	based	base	VERB
fcis-30626	91	21	on	on	ADP
fcis-30626	91	22	the	the	DET
fcis-30626	91	23	leader	leader	NOUN
fcis-30626	91	24	's	's	PART
fcis-30626	91	25	maneuvers	maneuver	NOUN
fcis-30626	91	26	,	,	PUNCT
fcis-30626	91	27	enhancing	enhance	VERB
fcis-30626	91	28	tactical	tactical	ADJ
fcis-30626	91	29	advantages	advantage	NOUN
fcis-30626	91	30	.	.	PUNCT
fcis-30626	92	1	distributed	distribute	VERB
fcis-30626	92	2	control	control	NOUN
fcis-30626	92	3	and	and	CCONJ
fcis-30626	92	4	consensus	consensus	NOUN
fcis-30626	92	5	protocol	protocol	NOUN
fcis-30626	92	6	-	-	PUNCT
fcis-30626	92	7	based	base	VERB
fcis-30626	92	8	uav	uav	PROPN
fcis-30626	92	9	formation	formation	NOUN
fcis-30626	92	10	control	control	NOUN
fcis-30626	92	11	decentralizes	decentralize	VERB
fcis-30626	92	12	decision	decision	NOUN
fcis-30626	92	13	-	-	PUNCT
fcis-30626	92	14	making	making	NOUN
fcis-30626	92	15	to	to	ADP
fcis-30626	92	16	individual	individual	ADJ
fcis-30626	92	17	uavs	uavs	NOUN
fcis-30626	92	18	,	,	PUNCT
fcis-30626	92	19	enabling	enable	VERB
fcis-30626	92	20	global	global	ADJ
fcis-30626	92	21	consistency	consistency	NOUN
fcis-30626	92	22	through	through	ADP
fcis-30626	92	23	local	local	ADJ
fcis-30626	92	24	information	information	NOUN
fcis-30626	92	25	and	and	CCONJ
fcis-30626	92	26	collaborative	collaborative	ADJ
fcis-30626	92	27	mechanisms	mechanism	NOUN
fcis-30626	92	28	.	.	PUNCT
fcis-30626	93	1	this	this	DET
fcis-30626	93	2	approach	approach	NOUN
fcis-30626	93	3	relies	rely	VERB
fcis-30626	93	4	on	on	ADP
fcis-30626	93	5	inter	inter	ADJ
fcis-30626	93	6	-	-	ADJ
fcis-30626	93	7	uav	uav	ADJ
fcis-30626	93	8	communication	communication	NOUN
fcis-30626	93	9	and	and	CCONJ
fcis-30626	93	10	state	state	NOUN
fcis-30626	93	11	sharing	sharing	NOUN
fcis-30626	93	12	,	,	PUNCT
fcis-30626	93	13	ensuring	ensure	VERB
fcis-30626	93	14	each	each	DET
fcis-30626	93	15	uav	uav	PROPN
fcis-30626	93	16	can	can	AUX
fcis-30626	93	17	make	make	VERB
fcis-30626	93	18	independent	independent	ADJ
fcis-30626	93	19	decisions	decision	NOUN
fcis-30626	93	20	without	without	ADP
fcis-30626	93	21	centralized	centralized	ADJ
fcis-30626	93	22	command	command	NOUN
fcis-30626	93	23	,	,	PUNCT
fcis-30626	93	24	thereby	thereby	ADV
fcis-30626	93	25	enhancing	enhance	VERB
fcis-30626	93	26	system	system	NOUN
fcis-30626	93	27	robustness	robustness	NOUN
fcis-30626	93	28	and	and	CCONJ
fcis-30626	93	29	flexibility	flexibility	NOUN
fcis-30626	93	30	.	.	PUNCT
fcis-30626	94	1	numerous	numerous	ADJ
fcis-30626	94	2	studies	study	NOUN
fcis-30626	94	3	have	have	AUX
fcis-30626	94	4	explored	explore	VERB
fcis-30626	94	5	various	various	ADJ
fcis-30626	94	6	methods	method	NOUN
fcis-30626	94	7	and	and	CCONJ
fcis-30626	94	8	algorithms	algorithm	NOUN
fcis-30626	94	9	to	to	PART
fcis-30626	94	10	improve	improve	VERB
fcis-30626	94	11	formation	formation	NOUN
fcis-30626	94	12	efficiency	efficiency	NOUN
fcis-30626	94	13	and	and	CCONJ
fcis-30626	94	14	reliability	reliability	NOUN
fcis-30626	94	15	in	in	ADP
fcis-30626	94	16	dynamic	dynamic	ADJ
fcis-30626	94	17	environments	environment	NOUN
fcis-30626	94	18	.	.	PUNCT
fcis-30626	95	1	liu	liu	PROPN
fcis-30626	95	2	et	et	PROPN
fcis-30626	95	3	al	al	PROPN
fcis-30626	95	4	.	.	PUNCT
fcis-30626	96	1	[	[	X
fcis-30626	96	2	33	33	NUM
fcis-30626	96	3	]	]	PUNCT
fcis-30626	96	4	advanced	advance	VERB
fcis-30626	96	5	the	the	DET
fcis-30626	96	6	field	field	NOUN
fcis-30626	96	7	by	by	ADP
fcis-30626	96	8	developing	develop	VERB
fcis-30626	96	9	a	a	DET
fcis-30626	96	10	formation	formation	NOUN
fcis-30626	96	11	obstacle	obstacle	NOUN
fcis-30626	96	12	-	-	PUNCT
fcis-30626	96	13	avoidance	avoidance	NOUN
fcis-30626	96	14	strategy	strategy	NOUN
fcis-30626	96	15	based	base	VERB
fcis-30626	96	16	on	on	ADP
fcis-30626	96	17	consensus	consensus	NOUN
fcis-30626	96	18	control	control	NOUN
fcis-30626	96	19	and	and	CCONJ
fcis-30626	96	20	graph	graph	NOUN
fcis-30626	96	21	theory	theory	NOUN
fcis-30626	96	22	.	.	PUNCT
fcis-30626	97	1	their	their	PRON
fcis-30626	97	2	leader	leader	NOUN
fcis-30626	97	3	-	-	PUNCT
fcis-30626	97	4	follower	follower	NOUN
fcis-30626	97	5	model	model	NOUN
fcis-30626	97	6	,	,	PUNCT
fcis-30626	97	7	incorporating	incorporate	VERB
fcis-30626	97	8	an	an	DET
fcis-30626	97	9	improved	improved	ADJ
fcis-30626	97	10	artificial	artificial	ADJ
fcis-30626	97	11	potential	potential	ADJ
fcis-30626	97	12	field	field	NOUN
fcis-30626	97	13	method	method	NOUN
fcis-30626	97	14	,	,	PUNCT
fcis-30626	97	15	allowed	allow	VERB
fcis-30626	97	16	the	the	DET
fcis-30626	97	17	leader	leader	NOUN
fcis-30626	97	18	uav	uav	PROPN
fcis-30626	97	19	to	to	PART
fcis-30626	97	20	avoid	avoid	VERB
fcis-30626	97	21	obstacles	obstacle	NOUN
fcis-30626	97	22	while	while	SCONJ
fcis-30626	97	23	navigating	navigate	VERB
fcis-30626	97	24	toward	toward	ADP
fcis-30626	97	25	targets	target	NOUN
fcis-30626	97	26	.	.	PUNCT
fcis-30626	98	1	the	the	DET
fcis-30626	98	2	consensus	consensus	NOUN
fcis-30626	98	3	protocol	protocol	NOUN
fcis-30626	98	4	ensured	ensure	VERB
fcis-30626	98	5	formation	formation	NOUN
fcis-30626	98	6	maintenance	maintenance	NOUN
fcis-30626	98	7	even	even	ADV
fcis-30626	98	8	under	under	ADP
fcis-30626	98	9	disturbances	disturbance	NOUN
fcis-30626	98	10	,	,	PUNCT
fcis-30626	98	11	underscoring	underscore	VERB
fcis-30626	98	12	the	the	DET
fcis-30626	98	13	importance	importance	NOUN
fcis-30626	98	14	of	of	ADP
fcis-30626	98	15	consensus	consensus	NOUN
fcis-30626	98	16	protocols	protocol	NOUN
fcis-30626	98	17	for	for	ADP
fcis-30626	98	18	stability	stability	NOUN
fcis-30626	98	19	in	in	ADP
fcis-30626	98	20	complex	complex	ADJ
fcis-30626	98	21	environments	environment	NOUN
fcis-30626	98	22	.	.	PUNCT
fcis-30626	99	1	recent	recent	ADJ
fcis-30626	99	2	research	research	NOUN
fcis-30626	99	3	has	have	AUX
fcis-30626	99	4	focused	focus	VERB
fcis-30626	99	5	on	on	ADP
fcis-30626	99	6	distributed	distribute	VERB
fcis-30626	99	7	cooperative	cooperative	ADJ
fcis-30626	99	8	obstacle	obstacle	NOUN
fcis-30626	99	9	avoidance	avoidance	NOUN
fcis-30626	99	10	and	and	CCONJ
fcis-30626	99	11	formation	formation	NOUN
fcis-30626	99	12	reconfiguration	reconfiguration	NOUN
fcis-30626	99	13	.	.	PUNCT
fcis-30626	100	1	literature	literature	NOUN
fcis-30626	100	2	[	[	X
fcis-30626	100	3	34	34	NUM
fcis-30626	100	4	]	]	PUNCT
fcis-30626	100	5	investigated	investigate	VERB
fcis-30626	100	6	distributed	distribute	VERB
fcis-30626	100	7	formation	formation	NOUN
fcis-30626	100	8	reconfiguration	reconfiguration	NOUN
fcis-30626	100	9	control	control	NOUN
fcis-30626	100	10	based	base	VERB
fcis-30626	100	11	on	on	ADP
fcis-30626	100	12	consensus	consensus	NOUN
fcis-30626	100	13	theory	theory	NOUN
fcis-30626	100	14	,	,	PUNCT
fcis-30626	100	15	enabling	enable	VERB
fcis-30626	100	16	uavs	uavs	NOUN
fcis-30626	100	17	to	to	PART
fcis-30626	100	18	dynamically	dynamically	ADV
fcis-30626	100	19	adjust	adjust	VERB
fcis-30626	100	20	formations	formation	NOUN
fcis-30626	100	21	in	in	ADP
fcis-30626	100	22	response	response	NOUN
fcis-30626	100	23	to	to	ADP
fcis-30626	100	24	environmental	environmental	ADJ
fcis-30626	100	25	changes	change	NOUN
fcis-30626	100	26	—	—	PUNCT
fcis-30626	100	27	a	a	DET
fcis-30626	100	28	critical	critical	ADJ
fcis-30626	100	29	capability	capability	NOUN
fcis-30626	100	30	for	for	ADP
fcis-30626	100	31	maintaining	maintain	VERB
fcis-30626	100	32	operational	operational	ADJ
fcis-30626	100	33	effectiveness	effectiveness	NOUN
fcis-30626	100	34	in	in	ADP
fcis-30626	100	35	rapidly	rapidly	ADV
fcis-30626	100	36	changing	change	VERB
fcis-30626	100	37	real	real	ADJ
fcis-30626	100	38	-	-	PUNCT
fcis-30626	100	39	world	world	NOUN
fcis-30626	100	40	scenarios	scenario	NOUN
fcis-30626	100	41	.	.	PUNCT
fcis-30626	101	1	ftc	ftc	PROPN
fcis-30626	101	2	-	-	PUNCT
fcis-30626	101	3	based	base	VERB
fcis-30626	101	4	uav	uav	PROPN
fcis-30626	101	5	formation	formation	NOUN
fcis-30626	101	6	control	control	NOUN
fcis-30626	101	7	aims	aim	VERB
fcis-30626	101	8	to	to	PART
fcis-30626	101	9	enhance	enhance	VERB
fcis-30626	101	10	system	system	NOUN
fcis-30626	101	11	stability	stability	NOUN
fcis-30626	101	12	and	and	CCONJ
fcis-30626	101	13	performance	performance	NOUN
fcis-30626	101	14	when	when	SCONJ
fcis-30626	101	15	components	component	NOUN
fcis-30626	101	16	fail	fail	VERB
fcis-30626	101	17	or	or	CCONJ
fcis-30626	101	18	are	be	AUX
fcis-30626	101	19	under	under	ADP
fcis-30626	101	20	attack	attack	NOUN
fcis-30626	101	21	.	.	PUNCT
fcis-30626	102	1	by	by	ADP
fcis-30626	102	2	designing	design	VERB
fcis-30626	102	3	redundancy	redundancy	NOUN
fcis-30626	102	4	mechanisms	mechanism	NOUN
fcis-30626	102	5	and	and	CCONJ
fcis-30626	102	6	adaptive	adaptive	ADJ
fcis-30626	102	7	algorithms	algorithm	NOUN
fcis-30626	102	8	,	,	PUNCT
fcis-30626	102	9	this	this	DET
fcis-30626	102	10	strategy	strategy	NOUN
fcis-30626	102	11	enables	enable	VERB
fcis-30626	102	12	uavs	uavs	NOUN
fcis-30626	102	13	to	to	PART
fcis-30626	102	14	swiftly	swiftly	ADV
fcis-30626	102	15	adjust	adjust	VERB
fcis-30626	102	16	control	control	NOUN
fcis-30626	102	17	policies	policy	NOUN
fcis-30626	102	18	in	in	ADP
fcis-30626	102	19	the	the	DET
fcis-30626	102	20	face	face	NOUN
fcis-30626	102	21	of	of	ADP
fcis-30626	102	22	faults	fault	NOUN
fcis-30626	102	23	or	or	CCONJ
fcis-30626	102	24	external	external	ADJ
fcis-30626	102	25	interference	interference	NOUN
fcis-30626	102	26	,	,	PUNCT
fcis-30626	102	27	ensuring	ensure	VERB
fcis-30626	102	28	continuous	continuous	ADJ
fcis-30626	102	29	operation	operation	NOUN
fcis-30626	102	30	and	and	CCONJ
fcis-30626	102	31	mission	mission	NOUN
fcis-30626	102	32	success	success	NOUN
fcis-30626	102	33	.	.	PUNCT
fcis-30626	103	1	research	research	NOUN
fcis-30626	103	2	progress	progress	NOUN
fcis-30626	103	3	in	in	ADP
fcis-30626	103	4	ftc	ftc	PROPN
fcis-30626	103	5	-	-	PUNCT
fcis-30626	103	6	based	base	VERB
fcis-30626	103	7	uav	uav	PROPN
fcis-30626	103	8	formation	formation	NOUN
fcis-30626	103	9	control	control	NOUN
fcis-30626	103	10	has	have	AUX
fcis-30626	103	11	proposed	propose	VERB
fcis-30626	103	12	innovative	innovative	ADJ
fcis-30626	103	13	solutions	solution	NOUN
fcis-30626	103	14	to	to	ADP
fcis-30626	103	15	challenges	challenge	NOUN
fcis-30626	103	16	in	in	ADP
fcis-30626	103	17	maintaining	maintain	VERB
fcis-30626	103	18	formation	formation	NOUN
fcis-30626	103	19	integrity	integrity	NOUN
fcis-30626	103	20	under	under	ADP
fcis-30626	103	21	faults	fault	NOUN
fcis-30626	103	22	and	and	CCONJ
fcis-30626	103	23	disturbances	disturbance	NOUN
fcis-30626	103	24	.	.	PUNCT
fcis-30626	104	1	for	for	ADP
fcis-30626	104	2	emergency	emergency	NOUN
fcis-30626	104	3	medical	medical	ADJ
fcis-30626	104	4	rescue	rescue	NOUN
fcis-30626	104	5	scenarios	scenario	NOUN
fcis-30626	104	6	,	,	PUNCT
fcis-30626	104	7	song	song	NOUN
fcis-30626	104	8	et	et	PROPN
fcis-30626	104	9	al	al	PROPN
fcis-30626	104	10	.	.	PUNCT
fcis-30626	105	1	[	[	X
fcis-30626	105	2	35	35	NUM
fcis-30626	105	3	]	]	PUNCT
fcis-30626	105	4	developed	develop	VERB
fcis-30626	105	5	a	a	DET
fcis-30626	105	6	topology	topology	NOUN
fcis-30626	105	7	control	control	NOUN
fcis-30626	105	8	algorithm	algorithm	NOUN
fcis-30626	105	9	to	to	PART
fcis-30626	105	10	enhance	enhance	VERB
fcis-30626	105	11	fault	fault	VERB
fcis-30626	105	12	tolerance	tolerance	NOUN
fcis-30626	105	13	in	in	ADP
fcis-30626	105	14	uav	uav	PROPN
fcis-30626	105	15	networks	network	NOUN
fcis-30626	105	16	.	.	PUNCT
fcis-30626	106	1	their	their	PRON
fcis-30626	106	2	ftlmf	ftlmf	NOUN
fcis-30626	106	3	algorithm	algorithm	NOUN
fcis-30626	106	4	constructed	construct	VERB
fcis-30626	106	5	a	a	DET
fcis-30626	106	6	doubly	doubly	ADV
fcis-30626	106	7	connected	connect	VERB
fcis-30626	106	8	fault	fault	NOUN
fcis-30626	106	9	-	-	PUNCT
fcis-30626	106	10	tolerant	tolerant	ADJ
fcis-30626	106	11	network	network	NOUN
fcis-30626	106	12	,	,	PUNCT
fcis-30626	106	13	significantly	significantly	ADV
fcis-30626	106	14	improving	improve	VERB
fcis-30626	106	15	connection	connection	NOUN
fcis-30626	106	16	retention	retention	NOUN
fcis-30626	106	17	rates	rate	NOUN
fcis-30626	106	18	under	under	ADP
fcis-30626	106	19	node	node	ADJ
fcis-30626	106	20	mobility	mobility	NOUN
fcis-30626	106	21	,	,	PUNCT
fcis-30626	106	22	highlighting	highlight	VERB
fcis-30626	106	23	the	the	DET
fcis-30626	106	24	critical	critical	ADJ
fcis-30626	106	25	role	role	NOUN
fcis-30626	106	26	of	of	ADP
fcis-30626	106	27	network	network	NOUN
fcis-30626	106	28	topology	topology	NOUN
fcis-30626	106	29	in	in	ADP
fcis-30626	106	30	formation	formation	NOUN
fcis-30626	106	31	resilience	resilience	NOUN
fcis-30626	106	32	.	.	PUNCT
fcis-30626	107	1	zhen	zhen	PROPN
fcis-30626	107	2	et	et	PROPN
fcis-30626	107	3	al	al	PROPN
fcis-30626	107	4	.	.	PUNCT
fcis-30626	108	1	[	[	X
fcis-30626	108	2	36	36	NUM
fcis-30626	108	3	]	]	PUNCT
fcis-30626	108	4	studied	study	VERB
fcis-30626	108	5	fault	fault	NOUN
fcis-30626	108	6	-	-	PUNCT
fcis-30626	108	7	tolerant	tolerant	ADJ
fcis-30626	108	8	time	time	NOUN
fcis-30626	108	9	-	-	PUNCT
fcis-30626	108	10	varying	vary	VERB
fcis-30626	108	11	formation	formation	NOUN
fcis-30626	108	12	tracking	track	VERB
fcis-30626	108	13	control	control	NOUN
fcis-30626	108	14	for	for	ADP
fcis-30626	108	15	uav	uav	PROPN
fcis-30626	108	16	swarms	swarm	NOUN
fcis-30626	108	17	with	with	ADP
fcis-30626	108	18	switching	switch	VERB
fcis-30626	108	19	topologies	topology	NOUN
fcis-30626	108	20	.	.	PUNCT
fcis-30626	109	1	their	their	PRON
fcis-30626	109	2	findings	finding	NOUN
fcis-30626	109	3	showed	show	VERB
fcis-30626	109	4	that	that	SCONJ
fcis-30626	109	5	welldesigned	welldesigne	VERB
fcis-30626	109	6	formation	formation	NOUN
fcis-30626	109	7	tracking	track	VERB
fcis-30626	109	8	protocols	protocol	NOUN
fcis-30626	109	9	allow	allow	VERB
fcis-30626	109	10	followers	follower	NOUN
fcis-30626	109	11	to	to	PART
fcis-30626	109	12	maintain	maintain	VERB
fcis-30626	109	13	desired	desire	VERB
fcis-30626	109	14	formations	formation	NOUN
fcis-30626	109	15	while	while	SCONJ
fcis-30626	109	16	adapting	adapt	VERB
fcis-30626	109	17	to	to	ADP
fcis-30626	109	18	leader	leader	NOUN
fcis-30626	109	19	trajectories	trajectory	NOUN
fcis-30626	109	20	despite	despite	SCONJ
fcis-30626	109	21	actuator	actuator	NOUN
fcis-30626	109	22	faults	fault	NOUN
fcis-30626	109	23	,	,	PUNCT
fcis-30626	109	24	emphasizing	emphasize	VERB
fcis-30626	109	25	the	the	DET
fcis-30626	109	26	necessity	necessity	NOUN
fcis-30626	109	27	of	of	ADP
fcis-30626	109	28	dynamic	dynamic	ADJ
fcis-30626	109	29	characteristics	characteristic	NOUN
fcis-30626	109	30	and	and	CCONJ
fcis-30626	109	31	robust	robust	ADJ
fcis-30626	109	32	control	control	NOUN
fcis-30626	109	33	strategies	strategy	NOUN
fcis-30626	109	34	.	.	PUNCT
fcis-30626	110	1	literature	literature	NOUN
fcis-30626	111	1	[	[	X
fcis-30626	111	2	37	37	NUM
fcis-30626	111	3	]	]	PUNCT
fcis-30626	111	4	focused	focus	VERB
fcis-30626	111	5	on	on	ADP
fcis-30626	111	6	fault	fault	NOUN
fcis-30626	111	7	-	-	PUNCT
fcis-30626	111	8	tolerant	tolerant	ADJ
fcis-30626	111	9	active	active	ADJ
fcis-30626	111	10	disturbance	disturbance	NOUN
fcis-30626	111	11	rejection	rejection	NOUN
fcis-30626	111	12	control	control	NOUN
fcis-30626	111	13	(	(	PUNCT
fcis-30626	111	14	adrc	adrc	NOUN
fcis-30626	111	15	)	)	PUNCT
fcis-30626	111	16	for	for	ADP
fcis-30626	111	17	multirotor	multirotor	PROPN
fcis-30626	111	18	uavs	uavs	PROPN
fcis-30626	111	19	,	,	PUNCT
fcis-30626	111	20	addressing	address	VERB
fcis-30626	111	21	actuator	actuator	NOUN
fcis-30626	111	22	faults	fault	NOUN
fcis-30626	111	23	and	and	CCONJ
fcis-30626	111	24	external	external	ADJ
fcis-30626	111	25	disturbances	disturbance	NOUN
fcis-30626	111	26	like	like	ADP
fcis-30626	111	27	wind	wind	NOUN
fcis-30626	111	28	.	.	PUNCT
fcis-30626	112	1	by	by	ADP
fcis-30626	112	2	combining	combine	VERB
fcis-30626	112	3	adrc	adrc	NOUN
fcis-30626	112	4	with	with	ADP
fcis-30626	112	5	spatiotemporal	spatiotemporal	ADJ
fcis-30626	112	6	radial	radial	ADJ
fcis-30626	112	7	basis	basis	NOUN
fcis-30626	112	8	function	function	NOUN
fcis-30626	112	9	neural	neural	ADJ
fcis-30626	112	10	networks	network	NOUN
fcis-30626	112	11	,	,	PUNCT
fcis-30626	112	12	this	this	DET
fcis-30626	112	13	study	study	NOUN
fcis-30626	112	14	demonstrated	demonstrate	VERB
fcis-30626	112	15	practical	practical	ADJ
fcis-30626	112	16	approaches	approach	NOUN
fcis-30626	112	17	for	for	ADP
fcis-30626	112	18	maintaining	maintain	VERB
fcis-30626	112	19	stability	stability	NOUN
fcis-30626	112	20	in	in	ADP
fcis-30626	112	21	fluctuating	fluctuate	VERB
fcis-30626	112	22	environments	environment	NOUN
fcis-30626	112	23	using	use	VERB
fcis-30626	112	24	advanced	advanced	ADJ
fcis-30626	112	25	control	control	NOUN
fcis-30626	112	26	techniques	technique	NOUN
fcis-30626	112	27	.	.	PUNCT
fcis-30626	113	1	formation	formation	NOUN
fcis-30626	113	2	control	control	NOUN
fcis-30626	113	3	of	of	ADP
fcis-30626	113	4	uavs	uavs	NOUN
fcis-30626	113	5	based	base	VERB
fcis-30626	113	6	on	on	ADP
fcis-30626	113	7	robust	robust	ADJ
fcis-30626	113	8	control	control	NOUN
fcis-30626	113	9	strategies	strategy	NOUN
fcis-30626	113	10	is	be	AUX
fcis-30626	113	11	a	a	DET
fcis-30626	113	12	method	method	NOUN
fcis-30626	113	13	aimed	aim	VERB
fcis-30626	113	14	at	at	ADP
fcis-30626	113	15	enhancing	enhance	VERB
fcis-30626	113	16	the	the	DET
fcis-30626	113	17	adaptability	adaptability	NOUN
fcis-30626	113	18	and	and	CCONJ
fcis-30626	113	19	stability	stability	NOUN
fcis-30626	113	20	of	of	ADP
fcis-30626	113	21	the	the	DET
fcis-30626	113	22	system	system	NOUN
fcis-30626	113	23	in	in	ADP
fcis-30626	113	24	the	the	DET
fcis-30626	113	25	face	face	NOUN
fcis-30626	113	26	of	of	ADP
fcis-30626	113	27	uncertainties	uncertainty	NOUN
fcis-30626	113	28	and	and	CCONJ
fcis-30626	113	29	external	external	ADJ
fcis-30626	113	30	disturbances	disturbance	NOUN
fcis-30626	113	31	.	.	PUNCT
fcis-30626	114	1	by	by	ADP
fcis-30626	114	2	incorporating	incorporate	VERB
fcis-30626	114	3	robustness	robustness	NOUN
fcis-30626	114	4	analysis	analysis	NOUN
fcis-30626	114	5	and	and	CCONJ
fcis-30626	114	6	design	design	NOUN
fcis-30626	114	7	principles	principle	NOUN
fcis-30626	114	8	,	,	PUNCT
fcis-30626	114	9	this	this	DET
fcis-30626	114	10	strategy	strategy	NOUN
fcis-30626	114	11	ensures	ensure	VERB
fcis-30626	114	12	that	that	PRON
fcis-30626	114	13	uavs	uavs	NOUN
fcis-30626	114	14	maintain	maintain	VERB
fcis-30626	114	15	structural	structural	ADJ
fcis-30626	114	16	integrity	integrity	NOUN
fcis-30626	114	17	and	and	CCONJ
fcis-30626	114	18	operational	operational	ADJ
fcis-30626	114	19	efficiency	efficiency	NOUN
fcis-30626	114	20	in	in	ADP
fcis-30626	114	21	various	various	ADJ
fcis-30626	114	22	complex	complex	ADJ
fcis-30626	114	23	environments	environment	NOUN
fcis-30626	114	24	,	,	PUNCT
fcis-30626	114	25	effectively	effectively	ADV
fcis-30626	114	26	addressing	address	VERB
fcis-30626	114	27	dynamically	dynamically	ADV
fcis-30626	114	28	changing	change	VERB
fcis-30626	114	29	mission	mission	NOUN
fcis-30626	114	30	requirements	requirement	NOUN
fcis-30626	114	31	and	and	CCONJ
fcis-30626	114	32	environmental	environmental	ADJ
fcis-30626	114	33	challenges	challenge	NOUN
fcis-30626	114	34	.	.	PUNCT
fcis-30626	115	1	robust	robust	ADJ
fcis-30626	115	2	control	control	NOUN
fcis-30626	115	3	strategies	strategy	NOUN
fcis-30626	115	4	focus	focus	VERB
fcis-30626	115	5	on	on	ADP
fcis-30626	115	6	preserving	preserve	VERB
fcis-30626	115	7	system	system	NOUN
fcis-30626	115	8	stability	stability	NOUN
fcis-30626	115	9	under	under	ADP
fcis-30626	115	10	adversarial	adversarial	ADJ
fcis-30626	115	11	conditions	condition	NOUN
fcis-30626	115	12	,	,	PUNCT
fcis-30626	115	13	including	include	VERB
fcis-30626	115	14	methods	method	NOUN
fcis-30626	115	15	such	such	ADJ
fcis-30626	115	16	as	as	ADP
fcis-30626	115	17	"	"	PUNCT
fcis-30626	115	18	sliding	slide	VERB
fcis-30626	115	19	mode	mode	NOUN
fcis-30626	115	20	control	control	NOUN
fcis-30626	115	21	"	"	PUNCT
fcis-30626	115	22	,	,	PUNCT
fcis-30626	115	23	"	"	PUNCT
fcis-30626	115	24	adaptive	adaptive	ADJ
fcis-30626	115	25	control	control	NOUN
fcis-30626	115	26	"	"	PUNCT
fcis-30626	115	27	,	,	PUNCT
fcis-30626	115	28	"	"	PUNCT
fcis-30626	115	29	h∞	h∞	X
fcis-30626	115	30	control	control	NOUN
fcis-30626	115	31	"	"	PUNCT
fcis-30626	115	32	,	,	PUNCT
fcis-30626	115	33	and	and	CCONJ
fcis-30626	115	34	"	"	PUNCT
fcis-30626	115	35	feedback	feedback	NOUN
fcis-30626	115	36	linearization	linearization	NOUN
fcis-30626	115	37	"	"	PUNCT
fcis-30626	115	38	.	.	PUNCT
fcis-30626	116	1	sliding	slide	VERB
fcis-30626	116	2	mode	mode	NOUN
fcis-30626	116	3	control	control	NOUN
fcis-30626	116	4	is	be	AUX
fcis-30626	116	5	a	a	DET
fcis-30626	116	6	robust	robust	ADJ
fcis-30626	116	7	control	control	NOUN
fcis-30626	116	8	technique	technique	NOUN
fcis-30626	116	9	that	that	PRON
fcis-30626	116	10	effectively	effectively	ADV
fcis-30626	116	11	handles	handle	VERB
fcis-30626	116	12	uncertainties	uncertainty	NOUN
fcis-30626	116	13	and	and	CCONJ
fcis-30626	116	14	disturbances	disturbance	NOUN
fcis-30626	116	15	.	.	PUNCT
fcis-30626	117	1	it	it	PRON
fcis-30626	117	2	forces	force	VERB
fcis-30626	117	3	the	the	DET
fcis-30626	117	4	system	system	NOUN
fcis-30626	117	5	's	's	PART
fcis-30626	117	6	trajectory	trajectory	NOUN
fcis-30626	117	7	onto	onto	ADP
fcis-30626	117	8	a	a	DET
fcis-30626	117	9	predefined	predefine	VERB
fcis-30626	117	10	sliding	slide	VERB
fcis-30626	117	11	surface	surface	NOUN
fcis-30626	117	12	,	,	PUNCT
fcis-30626	117	13	ensuring	ensure	VERB
fcis-30626	117	14	stability	stability	NOUN
fcis-30626	117	15	and	and	CCONJ
fcis-30626	117	16	performance	performance	NOUN
fcis-30626	117	17	even	even	ADV
fcis-30626	117	18	in	in	ADP
fcis-30626	117	19	the	the	DET
fcis-30626	117	20	presence	presence	NOUN
fcis-30626	117	21	of	of	ADP
fcis-30626	117	22	model	model	NOUN
fcis-30626	117	23	uncertainties	uncertainty	NOUN
fcis-30626	117	24	and	and	CCONJ
fcis-30626	117	25	external	external	ADJ
fcis-30626	117	26	disturbances	disturbance	NOUN
fcis-30626	117	27	.	.	PUNCT
fcis-30626	118	1	xiang	xiang	PROPN
fcis-30626	118	2	et	et	PROPN
fcis-30626	118	3	al	al	PROPN
fcis-30626	118	4	.	.	PUNCT
fcis-30626	119	1	[	[	X
fcis-30626	119	2	38	38	NUM
fcis-30626	119	3	]	]	PUNCT
fcis-30626	119	4	proposed	propose	VERB
fcis-30626	119	5	a	a	DET
fcis-30626	119	6	decentralized	decentralize	VERB
fcis-30626	119	7	adaptive	adaptive	ADJ
fcis-30626	119	8	full	full	ADJ
fcis-30626	119	9	-	-	PUNCT
fcis-30626	119	10	order	order	NOUN
fcis-30626	119	11	sliding	slide	VERB
fcis-30626	119	12	mode	mode	NOUN
fcis-30626	119	13	control	control	NOUN
fcis-30626	119	14	framework	framework	NOUN
fcis-30626	119	15	for	for	ADP
fcis-30626	119	16	synchronized	synchronize	VERB
fcis-30626	119	17	formation	formation	NOUN
fcis-30626	119	18	motion	motion	NOUN
fcis-30626	119	19	of	of	ADP
fcis-30626	119	20	multiple	multiple	ADJ
fcis-30626	119	21	uavs	uavs	NOUN
fcis-30626	119	22	affected	affect	VERB
fcis-30626	119	23	by	by	ADP
fcis-30626	119	24	system	system	NOUN
fcis-30626	119	25	uncertainties	uncertainty	NOUN
fcis-30626	119	26	.	.	PUNCT
fcis-30626	120	1	this	this	DET
fcis-30626	120	2	framework	framework	NOUN
fcis-30626	120	3	integrates	integrate	VERB
fcis-30626	120	4	robust	robust	ADJ
fcis-30626	120	5	adaptive	adaptive	ADJ
fcis-30626	120	6	techniques	technique	NOUN
fcis-30626	120	7	to	to	PART
fcis-30626	120	8	handle	handle	VERB
fcis-30626	120	9	unknown	unknown	ADJ
fcis-30626	120	10	bounded	bound	VERB
fcis-30626	120	11	uncertainties	uncertainty	NOUN
fcis-30626	120	12	without	without	ADP
fcis-30626	120	13	prior	prior	ADJ
fcis-30626	120	14	knowledge	knowledge	NOUN
fcis-30626	120	15	of	of	ADP
fcis-30626	120	16	their	their	PRON
fcis-30626	120	17	bounds	bound	NOUN
fcis-30626	120	18	.	.	PUNCT
fcis-30626	121	1	fei	fei	PROPN
fcis-30626	121	2	et	et	PROPN
fcis-30626	121	3	al	al	PROPN
fcis-30626	121	4	.	.	PUNCT
fcis-30626	122	1	[	[	X
fcis-30626	122	2	39	39	NUM
fcis-30626	122	3	]	]	PUNCT
fcis-30626	122	4	developed	develop	VERB
fcis-30626	122	5	a	a	DET
fcis-30626	122	6	sliding	slide	VERB
fcis-30626	122	7	mode	mode	NOUN
fcis-30626	122	8	neural	neural	ADJ
fcis-30626	122	9	observer	observer	NOUN
fcis-30626	122	10	to	to	PART
fcis-30626	122	11	estimate	estimate	VERB
fcis-30626	122	12	nonlinear	nonlinear	ADJ
fcis-30626	122	13	uncertainties	uncertainty	NOUN
fcis-30626	122	14	in	in	ADP
fcis-30626	122	15	uav	uav	PROPN
fcis-30626	122	16	models	model	NOUN
fcis-30626	122	17	and	and	CCONJ
fcis-30626	122	18	designed	design	VERB
fcis-30626	122	19	sliding	slide	VERB
fcis-30626	122	20	mode	mode	NOUN
fcis-30626	122	21	controllers	controller	NOUN
fcis-30626	122	22	for	for	ADP
fcis-30626	122	23	both	both	PRON
fcis-30626	122	24	position	position	NOUN
fcis-30626	122	25	and	and	CCONJ
fcis-30626	122	26	attitude	attitude	NOUN
fcis-30626	122	27	loops	loop	NOUN
fcis-30626	122	28	.	.	PUNCT
fcis-30626	123	1	adaptive	adaptive	ADJ
fcis-30626	123	2	control	control	NOUN
fcis-30626	123	3	techniques	technique	NOUN
fcis-30626	123	4	adjust	adjust	VERB
fcis-30626	123	5	controller	controller	NOUN
fcis-30626	123	6	parameters	parameter	NOUN
fcis-30626	123	7	online	online	ADV
fcis-30626	123	8	to	to	PART
fcis-30626	123	9	compensate	compensate	VERB
fcis-30626	123	10	for	for	ADP
fcis-30626	123	11	uncertainties	uncertainty	NOUN
fcis-30626	123	12	and	and	CCONJ
fcis-30626	123	13	variations	variation	NOUN
fcis-30626	123	14	in	in	ADP
fcis-30626	123	15	160	160	NUM
fcis-30626	123	16	system	system	NOUN
fcis-30626	123	17	dynamics	dynamic	NOUN
fcis-30626	123	18	.	.	PUNCT
fcis-30626	124	1	these	these	DET
fcis-30626	124	2	methods	method	NOUN
fcis-30626	124	3	are	be	AUX
fcis-30626	124	4	particularly	particularly	ADV
fcis-30626	124	5	useful	useful	ADJ
fcis-30626	124	6	when	when	SCONJ
fcis-30626	124	7	uav	uav	PROPN
fcis-30626	124	8	parameters	parameter	NOUN
fcis-30626	124	9	are	be	AUX
fcis-30626	124	10	unknown	unknown	ADJ
fcis-30626	124	11	or	or	CCONJ
fcis-30626	124	12	time	time	NOUN
fcis-30626	124	13	-	-	PUNCT
fcis-30626	124	14	varying	vary	VERB
fcis-30626	124	15	.	.	PUNCT
fcis-30626	125	1	reference	reference	NOUN
fcis-30626	126	1	[	[	X
fcis-30626	126	2	40	40	NUM
fcis-30626	126	3	]	]	PUNCT
fcis-30626	126	4	addressed	address	VERB
fcis-30626	126	5	the	the	DET
fcis-30626	126	6	robust	robust	ADJ
fcis-30626	126	7	formation	formation	NOUN
fcis-30626	126	8	tracking	tracking	NOUN
fcis-30626	126	9	problem	problem	NOUN
fcis-30626	126	10	for	for	ADP
fcis-30626	126	11	heterogeneous	heterogeneous	ADJ
fcis-30626	126	12	multi	multi	ADJ
fcis-30626	126	13	-	-	ADJ
fcis-30626	126	14	robot	robot	ADJ
fcis-30626	126	15	systems	system	NOUN
fcis-30626	126	16	,	,	PUNCT
fcis-30626	126	17	using	use	VERB
fcis-30626	126	18	radial	radial	ADJ
fcis-30626	126	19	basis	basis	NOUN
fcis-30626	126	20	function	function	NOUN
fcis-30626	126	21	neural	neural	ADJ
fcis-30626	126	22	networks	network	NOUN
fcis-30626	126	23	to	to	PART
fcis-30626	126	24	approximate	approximate	VERB
fcis-30626	126	25	the	the	DET
fcis-30626	126	26	uncertain	uncertain	ADJ
fcis-30626	126	27	dynamics	dynamic	NOUN
fcis-30626	126	28	of	of	ADP
fcis-30626	126	29	unmanned	unmanned	ADJ
fcis-30626	126	30	surface	surface	NOUN
fcis-30626	126	31	vehicles	vehicle	NOUN
fcis-30626	126	32	tracked	track	VERB
fcis-30626	126	33	by	by	ADP
fcis-30626	126	34	uavs	uavs	PROPN
fcis-30626	126	35	.	.	PUNCT
fcis-30626	127	1	yang	yang	PROPN
fcis-30626	127	2	et	et	PROPN
fcis-30626	127	3	al	al	PROPN
fcis-30626	127	4	.	.	PUNCT
fcis-30626	128	1	[	[	X
fcis-30626	128	2	41	41	NUM
fcis-30626	128	3	]	]	PUNCT
fcis-30626	128	4	proposed	propose	VERB
fcis-30626	128	5	a	a	DET
fcis-30626	128	6	hybrid	hybrid	ADJ
fcis-30626	128	7	iterative	iterative	NOUN
fcis-30626	128	8	learning	learn	VERB
fcis-30626	128	9	formation	formation	NOUN
fcis-30626	128	10	control	control	NOUN
fcis-30626	128	11	strategy	strategy	NOUN
fcis-30626	128	12	that	that	PRON
fcis-30626	128	13	leverages	leverage	VERB
fcis-30626	128	14	historical	historical	ADJ
fcis-30626	128	15	input	input	NOUN
fcis-30626	128	16	-	-	PUNCT
fcis-30626	128	17	output	output	NOUN
fcis-30626	128	18	data	datum	NOUN
fcis-30626	128	19	to	to	PART
fcis-30626	128	20	update	update	VERB
fcis-30626	128	21	current	current	ADJ
fcis-30626	128	22	control	control	NOUN
fcis-30626	128	23	inputs	input	NOUN
fcis-30626	128	24	,	,	PUNCT
fcis-30626	128	25	enhancing	enhance	VERB
fcis-30626	128	26	robustness	robustness	NOUN
fcis-30626	128	27	against	against	ADP
fcis-30626	128	28	dynamic	dynamic	ADJ
fcis-30626	128	29	model	model	NOUN
fcis-30626	128	30	switching	switch	VERB
fcis-30626	128	31	behaviors	behavior	NOUN
fcis-30626	128	32	and	and	CCONJ
fcis-30626	128	33	external	external	ADJ
fcis-30626	128	34	disturbances	disturbance	NOUN
fcis-30626	128	35	.	.	PUNCT
fcis-30626	129	1	h∞	h∞	PROPN
fcis-30626	129	2	control	control	NOUN
fcis-30626	129	3	is	be	AUX
fcis-30626	129	4	a	a	DET
fcis-30626	129	5	robust	robust	ADJ
fcis-30626	129	6	design	design	NOUN
fcis-30626	129	7	method	method	NOUN
fcis-30626	129	8	aimed	aim	VERB
fcis-30626	129	9	at	at	ADP
fcis-30626	129	10	minimizing	minimize	VERB
fcis-30626	129	11	the	the	DET
fcis-30626	129	12	impact	impact	NOUN
fcis-30626	129	13	of	of	ADP
fcis-30626	129	14	disturbances	disturbance	NOUN
fcis-30626	129	15	on	on	ADP
fcis-30626	129	16	system	system	NOUN
fcis-30626	129	17	performance	performance	NOUN
fcis-30626	129	18	.	.	PUNCT
fcis-30626	130	1	raffo	raffo	NOUN
fcis-30626	130	2	et	et	PROPN
fcis-30626	130	3	al	al	PROPN
fcis-30626	130	4	.	.	PUNCT
fcis-30626	131	1	[	[	X
fcis-30626	131	2	42	42	NUM
fcis-30626	131	3	]	]	PUNCT
fcis-30626	131	4	introduced	introduce	VERB
fcis-30626	131	5	a	a	DET
fcis-30626	131	6	nonlinear	nonlinear	NOUN
fcis-30626	131	7	h∞	h∞	DET
fcis-30626	131	8	controller	controller	NOUN
fcis-30626	131	9	for	for	ADP
fcis-30626	131	10	quadrotor	quadrotor	NOUN
fcis-30626	131	11	uavs	uavs	NOUN
fcis-30626	131	12	transporting	transporting	NOUN
fcis-30626	131	13	payloads	payload	NOUN
fcis-30626	131	14	,	,	PUNCT
fcis-30626	131	15	ensuring	ensure	VERB
fcis-30626	131	16	swing	swing	NOUN
fcis-30626	131	17	-	-	PUNCT
fcis-30626	131	18	free	free	ADJ
fcis-30626	131	19	load	load	NOUN
fcis-30626	131	20	motion	motion	NOUN
fcis-30626	131	21	path	path	NOUN
fcis-30626	131	22	tracking	tracking	NOUN
fcis-30626	131	23	despite	despite	SCONJ
fcis-30626	131	24	parameter	parameter	NOUN
fcis-30626	131	25	uncertainties	uncertainty	NOUN
fcis-30626	131	26	and	and	CCONJ
fcis-30626	131	27	disturbances	disturbance	NOUN
fcis-30626	131	28	.	.	PUNCT
fcis-30626	132	1	they	they	PRON
fcis-30626	132	2	also	also	ADV
fcis-30626	132	3	employed	employ	VERB
fcis-30626	132	4	lyapunov	lyapunov	ADJ
fcis-30626	132	5	redesign	redesign	NOUN
fcis-30626	132	6	techniques	technique	NOUN
fcis-30626	132	7	to	to	PART
fcis-30626	132	8	reduce	reduce	VERB
fcis-30626	132	9	payload	payload	NOUN
fcis-30626	132	10	oscillations	oscillation	NOUN
fcis-30626	132	11	.	.	PUNCT
fcis-30626	133	1	feedback	feedback	NOUN
fcis-30626	133	2	linearization	linearization	NOUN
fcis-30626	133	3	transforms	transform	VERB
fcis-30626	133	4	nonlinear	nonlinear	ADJ
fcis-30626	133	5	systems	system	NOUN
fcis-30626	133	6	into	into	ADP
fcis-30626	133	7	linear	linear	ADJ
fcis-30626	133	8	ones	one	NOUN
fcis-30626	133	9	,	,	PUNCT
fcis-30626	133	10	enabling	enable	VERB
fcis-30626	133	11	the	the	DET
fcis-30626	133	12	application	application	NOUN
fcis-30626	133	13	of	of	ADP
fcis-30626	133	14	linear	linear	PROPN
fcis-30626	133	15	control	control	NOUN
fcis-30626	133	16	methods	method	NOUN
fcis-30626	133	17	.	.	PUNCT
fcis-30626	134	1	hu	hu	PROPN
fcis-30626	134	2	et	et	PROPN
fcis-30626	134	3	al	al	PROPN
fcis-30626	134	4	.	.	PUNCT
fcis-30626	135	1	[	[	X
fcis-30626	135	2	43	43	NUM
fcis-30626	135	3	]	]	PUNCT
fcis-30626	135	4	proposed	propose	VERB
fcis-30626	135	5	a	a	DET
fcis-30626	135	6	distributed	distribute	VERB
fcis-30626	135	7	formation	formation	NOUN
fcis-30626	135	8	control	control	NOUN
fcis-30626	135	9	architecture	architecture	NOUN
fcis-30626	135	10	for	for	ADP
fcis-30626	135	11	trirotor	trirotor	NOUN
fcis-30626	135	12	uavs	uavs	PROPN
fcis-30626	135	13	,	,	PUNCT
fcis-30626	135	14	using	use	VERB
fcis-30626	135	15	robust	robust	ADJ
fcis-30626	135	16	feedback	feedback	NOUN
fcis-30626	135	17	linearization	linearization	NOUN
fcis-30626	135	18	to	to	PART
fcis-30626	135	19	handle	handle	VERB
fcis-30626	135	20	highly	highly	ADV
fcis-30626	135	21	coupled	couple	VERB
fcis-30626	135	22	and	and	CCONJ
fcis-30626	135	23	nonlinear	nonlinear	ADJ
fcis-30626	135	24	dynamics	dynamic	NOUN
fcis-30626	135	25	,	,	PUNCT
fcis-30626	135	26	followed	follow	VERB
fcis-30626	135	27	by	by	ADP
fcis-30626	135	28	a	a	DET
fcis-30626	135	29	distributed	distribute	VERB
fcis-30626	135	30	adaptive	adaptive	ADJ
fcis-30626	135	31	formation	formation	NOUN
fcis-30626	135	32	tracking	tracking	NOUN
fcis-30626	135	33	protocol	protocol	NOUN
fcis-30626	135	34	.	.	PUNCT
fcis-30626	136	1	one	one	NUM
fcis-30626	136	2	of	of	ADP
fcis-30626	136	3	the	the	DET
fcis-30626	136	4	main	main	ADJ
fcis-30626	136	5	challenges	challenge	NOUN
fcis-30626	136	6	in	in	ADP
fcis-30626	136	7	uav	uav	PROPN
fcis-30626	136	8	formation	formation	NOUN
fcis-30626	136	9	systems	system	NOUN
fcis-30626	136	10	is	be	AUX
fcis-30626	136	11	ensuring	ensure	VERB
fcis-30626	136	12	robust	robust	ADJ
fcis-30626	136	13	communication	communication	NOUN
fcis-30626	136	14	and	and	CCONJ
fcis-30626	136	15	coordination	coordination	NOUN
fcis-30626	136	16	among	among	ADP
fcis-30626	136	17	agents	agent	NOUN
fcis-30626	136	18	,	,	PUNCT
fcis-30626	136	19	especially	especially	ADV
fcis-30626	136	20	under	under	ADP
fcis-30626	136	21	external	external	ADJ
fcis-30626	136	22	disturbances	disturbance	NOUN
fcis-30626	136	23	and	and	CCONJ
fcis-30626	136	24	potential	potential	ADJ
fcis-30626	136	25	internal	internal	ADJ
fcis-30626	136	26	collisions	collision	NOUN
fcis-30626	136	27	.	.	PUNCT
fcis-30626	137	1	liu	liu	PROPN
fcis-30626	137	2	et	et	PROPN
fcis-30626	137	3	al	al	PROPN
fcis-30626	137	4	.	.	PUNCT
fcis-30626	138	1	[	[	X
fcis-30626	138	2	44	44	NUM
fcis-30626	138	3	]	]	PUNCT
fcis-30626	138	4	introduced	introduce	VERB
fcis-30626	138	5	a	a	DET
fcis-30626	138	6	distributed	distribute	VERB
fcis-30626	138	7	formation	formation	NOUN
fcis-30626	138	8	control	control	NOUN
fcis-30626	138	9	protocol	protocol	NOUN
fcis-30626	138	10	for	for	ADP
fcis-30626	138	11	heterogeneous	heterogeneous	ADJ
fcis-30626	138	12	uavs	uavs	NOUN
fcis-30626	138	13	,	,	PUNCT
fcis-30626	138	14	emphasizing	emphasize	VERB
fcis-30626	138	15	the	the	DET
fcis-30626	138	16	importance	importance	NOUN
fcis-30626	138	17	of	of	ADP
fcis-30626	138	18	resilience	resilience	NOUN
fcis-30626	138	19	against	against	ADP
fcis-30626	138	20	deception	deception	NOUN
fcis-30626	138	21	attacks	attack	NOUN
fcis-30626	138	22	during	during	ADP
fcis-30626	138	23	event	event	NOUN
fcis-30626	138	24	-	-	PUNCT
fcis-30626	138	25	triggered	trigger	VERB
fcis-30626	138	26	consensus	consensus	NOUN
fcis-30626	138	27	estimation	estimation	NOUN
fcis-30626	138	28	.	.	PUNCT
fcis-30626	139	1	this	this	DET
fcis-30626	139	2	highlights	highlight	VERB
fcis-30626	139	3	the	the	DET
fcis-30626	139	4	need	need	NOUN
fcis-30626	139	5	for	for	ADP
fcis-30626	139	6	protocols	protocol	NOUN
fcis-30626	139	7	that	that	PRON
fcis-30626	139	8	maintain	maintain	VERB
fcis-30626	139	9	operational	operational	ADJ
fcis-30626	139	10	integrity	integrity	NOUN
fcis-30626	139	11	even	even	ADV
fcis-30626	139	12	in	in	ADP
fcis-30626	139	13	the	the	DET
fcis-30626	139	14	presence	presence	NOUN
fcis-30626	139	15	of	of	ADP
fcis-30626	139	16	misleading	mislead	VERB
fcis-30626	139	17	information	information	NOUN
fcis-30626	139	18	.	.	PUNCT
fcis-30626	140	1	model	model	NOUN
fcis-30626	140	2	predictive	predictive	PROPN
fcis-30626	140	3	control	control	NOUN
fcis-30626	140	4	is	be	AUX
fcis-30626	140	5	widely	widely	ADV
fcis-30626	140	6	used	use	VERB
fcis-30626	140	7	in	in	ADP
fcis-30626	140	8	uav	uav	PROPN
fcis-30626	140	9	formations	formation	NOUN
fcis-30626	140	10	due	due	ADP
fcis-30626	140	11	to	to	ADP
fcis-30626	140	12	its	its	PRON
fcis-30626	140	13	predictive	predictive	ADJ
fcis-30626	140	14	capability	capability	NOUN
fcis-30626	140	15	and	and	CCONJ
fcis-30626	140	16	constrainthandling	constrainthandle	VERB
fcis-30626	140	17	features	feature	NOUN
fcis-30626	140	18	.	.	PUNCT
fcis-30626	141	1	reference	reference	NOUN
fcis-30626	141	2	[	[	X
fcis-30626	141	3	45	45	NUM
fcis-30626	141	4	]	]	PUNCT
fcis-30626	141	5	focused	focus	VERB
fcis-30626	141	6	on	on	ADP
fcis-30626	141	7	disturbance	disturbance	NOUN
fcis-30626	141	8	rejection	rejection	NOUN
fcis-30626	141	9	in	in	ADP
fcis-30626	141	10	3d	3d	PROPN
fcis-30626	141	11	environments	environment	NOUN
fcis-30626	141	12	,	,	PUNCT
fcis-30626	141	13	constructing	construct	VERB
fcis-30626	141	14	state	state	NOUN
fcis-30626	141	15	estimation	estimation	NOUN
fcis-30626	141	16	and	and	CCONJ
fcis-30626	141	17	error	error	NOUN
fcis-30626	141	18	models	model	NOUN
fcis-30626	141	19	using	use	VERB
fcis-30626	141	20	relative	relative	ADJ
fcis-30626	141	21	information	information	NOUN
fcis-30626	141	22	.	.	PUNCT
fcis-30626	142	1	by	by	ADP
fcis-30626	142	2	integrating	integrate	VERB
fcis-30626	142	3	backstepping	backstepping	NOUN
fcis-30626	142	4	and	and	CCONJ
fcis-30626	142	5	mpc	mpc	NOUN
fcis-30626	142	6	strategies	strategy	NOUN
fcis-30626	142	7	,	,	PUNCT
fcis-30626	142	8	the	the	DET
fcis-30626	142	9	study	study	NOUN
fcis-30626	142	10	designed	design	VERB
fcis-30626	142	11	control	control	NOUN
fcis-30626	142	12	laws	law	NOUN
fcis-30626	142	13	to	to	PART
fcis-30626	142	14	ensure	ensure	VERB
fcis-30626	142	15	formation	formation	NOUN
fcis-30626	142	16	stability	stability	NOUN
fcis-30626	142	17	and	and	CCONJ
fcis-30626	142	18	optimized	optimize	VERB
fcis-30626	142	19	the	the	DET
fcis-30626	142	20	solution	solution	NOUN
fcis-30626	142	21	process	process	NOUN
fcis-30626	142	22	via	via	ADP
fcis-30626	142	23	ant	ant	ADJ
fcis-30626	142	24	colony	colony	NOUN
fcis-30626	142	25	algorithms	algorithm	NOUN
fcis-30626	142	26	,	,	PUNCT
fcis-30626	142	27	demonstrating	demonstrate	VERB
fcis-30626	142	28	superior	superior	ADJ
fcis-30626	142	29	performance	performance	NOUN
fcis-30626	142	30	over	over	ADP
fcis-30626	142	31	traditional	traditional	ADJ
fcis-30626	142	32	methods	method	NOUN
fcis-30626	142	33	.	.	PUNCT
fcis-30626	143	1	reference	reference	NOUN
fcis-30626	143	2	[	[	X
fcis-30626	143	3	46	46	NUM
fcis-30626	143	4	]	]	PUNCT
fcis-30626	143	5	explored	explore	VERB
fcis-30626	143	6	distributed	distribute	VERB
fcis-30626	143	7	mpc	mpc	PROPN
fcis-30626	143	8	algorithms	algorithm	NOUN
fcis-30626	143	9	,	,	PUNCT
fcis-30626	143	10	emphasizing	emphasize	VERB
fcis-30626	143	11	efficient	efficient	ADJ
fcis-30626	143	12	parallel	parallel	ADJ
fcis-30626	143	13	computation	computation	NOUN
fcis-30626	143	14	through	through	ADP
fcis-30626	143	15	local	local	ADJ
fcis-30626	143	16	optimization	optimization	NOUN
fcis-30626	143	17	and	and	CCONJ
fcis-30626	143	18	one	one	NUM
fcis-30626	143	19	-	-	PUNCT
fcis-30626	143	20	way	way	NOUN
fcis-30626	143	21	neighbor	neighbor	NOUN
fcis-30626	143	22	communication	communication	NOUN
fcis-30626	143	23	.	.	PUNCT
fcis-30626	144	1	the	the	DET
fcis-30626	144	2	design	design	NOUN
fcis-30626	144	3	balanced	balance	VERB
fcis-30626	144	4	energy	energy	NOUN
fcis-30626	144	5	minimization	minimization	NOUN
fcis-30626	144	6	and	and	CCONJ
fcis-30626	144	7	control	control	NOUN
fcis-30626	144	8	input	input	NOUN
fcis-30626	144	9	variations	variation	NOUN
fcis-30626	144	10	,	,	PUNCT
fcis-30626	144	11	with	with	ADP
fcis-30626	144	12	simulations	simulation	NOUN
fcis-30626	144	13	validating	validate	VERB
fcis-30626	144	14	stability	stability	NOUN
fcis-30626	144	15	and	and	CCONJ
fcis-30626	144	16	formation	formation	NOUN
fcis-30626	144	17	flight	flight	NOUN
fcis-30626	144	18	effectiveness	effectiveness	NOUN
fcis-30626	144	19	.	.	PUNCT
fcis-30626	145	1	pid	pid	NOUN
fcis-30626	145	2	control	control	NOUN
fcis-30626	145	3	remains	remain	VERB
fcis-30626	145	4	a	a	DET
fcis-30626	145	5	preferred	preferred	ADJ
fcis-30626	145	6	engineering	engineering	NOUN
fcis-30626	145	7	solution	solution	NOUN
fcis-30626	145	8	for	for	ADP
fcis-30626	145	9	its	its	PRON
fcis-30626	145	10	simplicity	simplicity	NOUN
fcis-30626	145	11	and	and	CCONJ
fcis-30626	145	12	efficiency	efficiency	NOUN
fcis-30626	145	13	,	,	PUNCT
fcis-30626	145	14	particularly	particularly	ADV
fcis-30626	145	15	in	in	ADP
fcis-30626	145	16	micro	micro	NOUN
fcis-30626	145	17	-	-	NOUN
fcis-30626	145	18	uav	uav	ADJ
fcis-30626	145	19	swarms	swarm	NOUN
fcis-30626	145	20	with	with	ADP
fcis-30626	145	21	limited	limited	ADJ
fcis-30626	145	22	computational	computational	ADJ
fcis-30626	145	23	resources	resource	NOUN
fcis-30626	145	24	.	.	PUNCT
fcis-30626	146	1	reference	reference	NOUN
fcis-30626	147	1	[	[	X
fcis-30626	147	2	47	47	NUM
fcis-30626	147	3	]	]	PUNCT
fcis-30626	147	4	proposed	propose	VERB
fcis-30626	147	5	a	a	DET
fcis-30626	147	6	decentralized	decentralize	VERB
fcis-30626	147	7	strategy	strategy	NOUN
fcis-30626	147	8	based	base	VERB
fcis-30626	147	9	on	on	ADP
fcis-30626	147	10	virtual	virtual	ADJ
fcis-30626	147	11	leader	leader	NOUN
fcis-30626	147	12	concepts	concept	NOUN
fcis-30626	147	13	and	and	CCONJ
fcis-30626	147	14	optimal	optimal	ADJ
fcis-30626	147	15	pid	pid	NOUN
fcis-30626	147	16	control	control	NOUN
fcis-30626	147	17	laws	law	NOUN
fcis-30626	147	18	to	to	PART
fcis-30626	147	19	counteract	counteract	VERB
fcis-30626	147	20	external	external	ADJ
fcis-30626	147	21	disturbances	disturbance	NOUN
fcis-30626	147	22	,	,	PUNCT
fcis-30626	147	23	random	random	ADJ
fcis-30626	147	24	fluctuations	fluctuation	NOUN
fcis-30626	147	25	,	,	PUNCT
fcis-30626	147	26	and	and	CCONJ
fcis-30626	147	27	wake	wake	VERB
fcis-30626	147	28	vortex	vortex	NOUN
fcis-30626	147	29	coupling	coupling	NOUN
fcis-30626	147	30	.	.	PUNCT
fcis-30626	148	1	by	by	ADP
fcis-30626	148	2	transforming	transform	VERB
fcis-30626	148	3	complex	complex	ADJ
fcis-30626	148	4	nonlinear	nonlinear	ADJ
fcis-30626	148	5	problems	problem	NOUN
fcis-30626	148	6	into	into	ADP
fcis-30626	148	7	independent	independent	ADJ
fcis-30626	148	8	linear	linear	ADJ
fcis-30626	148	9	matrix	matrix	NOUN
fcis-30626	148	10	inequality	inequality	NOUN
fcis-30626	148	11	optimizations	optimization	NOUN
fcis-30626	148	12	via	via	ADP
fcis-30626	148	13	t	t	PROPN
fcis-30626	148	14	-	-	PUNCT
fcis-30626	148	15	s	s	NOUN
fcis-30626	148	16	fuzzy	fuzzy	ADJ
fcis-30626	148	17	methods	method	NOUN
fcis-30626	148	18	and	and	CCONJ
fcis-30626	148	19	novel	novel	ADJ
fcis-30626	148	20	variable	variable	ADJ
fcis-30626	148	21	transformations	transformation	NOUN
fcis-30626	148	22	,	,	PUNCT
fcis-30626	148	23	the	the	DET
fcis-30626	148	24	approach	approach	NOUN
fcis-30626	148	25	significantly	significantly	ADV
fcis-30626	148	26	improved	improve	VERB
fcis-30626	148	27	design	design	NOUN
fcis-30626	148	28	efficiency	efficiency	NOUN
fcis-30626	148	29	and	and	CCONJ
fcis-30626	148	30	tracking	tracking	NOUN
fcis-30626	148	31	performance	performance	NOUN
fcis-30626	148	32	.	.	PUNCT
fcis-30626	149	1	event	event	NOUN
fcis-30626	149	2	-	-	PUNCT
fcis-30626	149	3	triggered	trigger	VERB
fcis-30626	149	4	control	control	NOUN
fcis-30626	149	5	addresses	address	NOUN
fcis-30626	149	6	scenarios	scenario	NOUN
fcis-30626	149	7	with	with	ADP
fcis-30626	149	8	environmental	environmental	ADJ
fcis-30626	149	9	uncertainties	uncertainty	NOUN
fcis-30626	149	10	and	and	CCONJ
fcis-30626	149	11	limited	limited	ADJ
fcis-30626	149	12	communication	communication	NOUN
fcis-30626	149	13	resources	resource	NOUN
fcis-30626	149	14	.	.	PUNCT
fcis-30626	150	1	dou	dou	X
fcis-30626	150	2	et	et	PROPN
fcis-30626	150	3	al	al	PROPN
fcis-30626	150	4	.	.	PUNCT
fcis-30626	151	1	[	[	X
fcis-30626	151	2	48	48	NUM
fcis-30626	151	3	]	]	PUNCT
fcis-30626	151	4	designed	design	VERB
fcis-30626	151	5	an	an	DET
fcis-30626	151	6	adaptive	adaptive	ADJ
fcis-30626	151	7	dynamic	dynamic	ADJ
fcis-30626	151	8	programming	programming	NOUN
fcis-30626	151	9	method	method	NOUN
fcis-30626	151	10	for	for	ADP
fcis-30626	151	11	distributed	distribute	VERB
fcis-30626	151	12	formation	formation	NOUN
fcis-30626	151	13	control	control	NOUN
fcis-30626	151	14	,	,	PUNCT
fcis-30626	151	15	revealing	reveal	VERB
fcis-30626	151	16	the	the	DET
fcis-30626	151	17	potential	potential	NOUN
fcis-30626	151	18	of	of	ADP
fcis-30626	151	19	event	event	NOUN
fcis-30626	151	20	-	-	PUNCT
fcis-30626	151	21	triggered	trigger	VERB
fcis-30626	151	22	mechanisms	mechanism	NOUN
fcis-30626	151	23	to	to	PART
fcis-30626	151	24	enhance	enhance	VERB
fcis-30626	151	25	adaptability	adaptability	NOUN
fcis-30626	151	26	and	and	CCONJ
fcis-30626	151	27	response	response	NOUN
fcis-30626	151	28	speed	speed	NOUN
fcis-30626	151	29	.	.	PUNCT
fcis-30626	152	1	reference	reference	NOUN
fcis-30626	152	2	[	[	X
fcis-30626	152	3	49	49	NUM
fcis-30626	152	4	]	]	PUNCT
fcis-30626	152	5	combined	combine	VERB
fcis-30626	152	6	finite	finite	ADJ
fcis-30626	152	7	-	-	PUNCT
fcis-30626	152	8	time	time	NOUN
fcis-30626	152	9	stability	stability	NOUN
fcis-30626	152	10	theory	theory	NOUN
fcis-30626	152	11	with	with	ADP
fcis-30626	152	12	event	event	NOUN
fcis-30626	152	13	-	-	PUNCT
fcis-30626	152	14	triggered	trigger	VERB
fcis-30626	152	15	formation	formation	NOUN
fcis-30626	152	16	control	control	NOUN
fcis-30626	152	17	,	,	PUNCT
fcis-30626	152	18	focusing	focus	VERB
fcis-30626	152	19	on	on	ADP
fcis-30626	152	20	privacy	privacy	NOUN
fcis-30626	152	21	-	-	PUNCT
fcis-30626	152	22	preserving	preserve	VERB
fcis-30626	152	23	methods	method	NOUN
fcis-30626	152	24	.	.	PUNCT
fcis-30626	153	1	the	the	DET
fcis-30626	153	2	study	study	NOUN
fcis-30626	153	3	showed	show	VERB
fcis-30626	153	4	that	that	SCONJ
fcis-30626	153	5	this	this	DET
fcis-30626	153	6	approach	approach	NOUN
fcis-30626	153	7	not	not	PART
fcis-30626	153	8	only	only	ADV
fcis-30626	153	9	accelerated	accelerate	VERB
fcis-30626	153	10	convergence	convergence	NOUN
fcis-30626	153	11	but	but	CCONJ
fcis-30626	153	12	also	also	ADV
fcis-30626	153	13	reduced	reduce	VERB
fcis-30626	153	14	controller	controller	NOUN
fcis-30626	153	15	update	update	NOUN
fcis-30626	153	16	frequency	frequency	NOUN
fcis-30626	153	17	,	,	PUNCT
fcis-30626	153	18	optimizing	optimize	VERB
fcis-30626	153	19	communication	communication	NOUN
fcis-30626	153	20	resources	resource	NOUN
fcis-30626	153	21	.	.	PUNCT
fcis-30626	154	1	regarding	regard	VERB
fcis-30626	154	2	time	time	NOUN
fcis-30626	154	3	delays	delay	NOUN
fcis-30626	154	4	,	,	PUNCT
fcis-30626	154	5	research	research	NOUN
fcis-30626	154	6	on	on	ADP
fcis-30626	154	7	formation	formation	NOUN
fcis-30626	154	8	tracking	track	VERB
fcis-30626	154	9	control	control	NOUN
fcis-30626	154	10	for	for	ADP
fcis-30626	154	11	multi	multi	ADJ
fcis-30626	154	12	-	-	ADJ
fcis-30626	154	13	uav	uav	ADJ
fcis-30626	154	14	systems	system	NOUN
fcis-30626	154	15	has	have	AUX
fcis-30626	154	16	increasingly	increasingly	ADV
fcis-30626	154	17	focused	focus	VERB
fcis-30626	154	18	on	on	ADP
fcis-30626	154	19	complex	complex	ADJ
fcis-30626	154	20	scenarios	scenario	NOUN
fcis-30626	154	21	where	where	SCONJ
fcis-30626	154	22	delays	delay	NOUN
fcis-30626	154	23	coexist	coexist	VERB
fcis-30626	154	24	with	with	ADP
fcis-30626	154	25	external	external	ADJ
fcis-30626	154	26	disturbances	disturbance	NOUN
fcis-30626	154	27	.	.	PUNCT
fcis-30626	155	1	for	for	ADP
fcis-30626	155	2	instance	instance	NOUN
fcis-30626	155	3	,	,	PUNCT
fcis-30626	155	4	a	a	DET
fcis-30626	155	5	fixed	fix	VERB
fcis-30626	155	6	-	-	PUNCT
fcis-30626	155	7	time	time	NOUN
fcis-30626	155	8	disturbance	disturbance	NOUN
fcis-30626	155	9	observerbased	observerbase	VERB
fcis-30626	155	10	robust	robust	ADJ
fcis-30626	155	11	tracking	tracking	NOUN
fcis-30626	155	12	controller	controller	NOUN
fcis-30626	155	13	has	have	AUX
fcis-30626	155	14	been	be	AUX
fcis-30626	155	15	proposed	propose	VERB
fcis-30626	155	16	,	,	PUNCT
fcis-30626	155	17	which	which	PRON
fcis-30626	155	18	utilizes	utilize	VERB
fcis-30626	155	19	an	an	DET
fcis-30626	155	20	adaptive	adaptive	ADJ
fcis-30626	155	21	compensator	compensator	NOUN
fcis-30626	155	22	to	to	PART
fcis-30626	155	23	enhance	enhance	VERB
fcis-30626	155	24	trajectory	trajectory	NOUN
fcis-30626	155	25	tracking	tracking	NOUN
fcis-30626	155	26	performance	performance	NOUN
fcis-30626	155	27	under	under	ADP
fcis-30626	155	28	varying	vary	VERB
fcis-30626	155	29	disturbance	disturbance	NOUN
fcis-30626	155	30	conditions	condition	NOUN
fcis-30626	155	31	[	[	X
fcis-30626	155	32	50	50	NUM
fcis-30626	155	33	]	]	PUNCT
fcis-30626	155	34	,	,	PUNCT
fcis-30626	155	35	recent	recent	ADJ
fcis-30626	155	36	advances	advance	NOUN
fcis-30626	155	37	also	also	ADV
fcis-30626	155	38	include	include	VERB
fcis-30626	155	39	the	the	DET
fcis-30626	155	40	proposal	proposal	NOUN
fcis-30626	155	41	of	of	ADP
fcis-30626	155	42	an	an	DET
fcis-30626	155	43	adaptive	adaptive	ADJ
fcis-30626	155	44	dual	dual	ADJ
fcis-30626	155	45	-	-	PUNCT
fcis-30626	155	46	channel	channel	NOUN
fcis-30626	155	47	event	event	NOUN
fcis-30626	155	48	-	-	PUNCT
fcis-30626	155	49	triggered	trigger	VERB
fcis-30626	155	50	control	control	NOUN
fcis-30626	155	51	scheme	scheme	NOUN
fcis-30626	155	52	specifically	specifically	ADV
fcis-30626	155	53	for	for	ADP
fcis-30626	155	54	formation	formation	NOUN
fcis-30626	155	55	tracking	tracking	NOUN
fcis-30626	155	56	and	and	CCONJ
fcis-30626	155	57	obstacle	obstacle	NOUN
fcis-30626	155	58	avoidance	avoidance	NOUN
fcis-30626	155	59	.	.	PUNCT
fcis-30626	156	1	this	this	DET
fcis-30626	156	2	innovative	innovative	ADJ
fcis-30626	156	3	approach	approach	NOUN
fcis-30626	156	4	aims	aim	VERB
fcis-30626	156	5	to	to	PART
fcis-30626	156	6	improve	improve	VERB
fcis-30626	156	7	the	the	DET
fcis-30626	156	8	responsiveness	responsiveness	NOUN
fcis-30626	156	9	of	of	ADP
fcis-30626	156	10	uavs	uavs	NOUN
fcis-30626	156	11	in	in	ADP
fcis-30626	156	12	complex	complex	ADJ
fcis-30626	156	13	environments	environment	NOUN
fcis-30626	156	14	,	,	PUNCT
fcis-30626	156	15	ensuring	ensure	VERB
fcis-30626	156	16	that	that	SCONJ
fcis-30626	156	17	they	they	PRON
fcis-30626	156	18	can	can	AUX
fcis-30626	156	19	navigate	navigate	VERB
fcis-30626	156	20	effectively	effectively	ADV
fcis-30626	156	21	while	while	SCONJ
fcis-30626	156	22	maintaining	maintain	VERB
fcis-30626	156	23	formation	formation	NOUN
fcis-30626	156	24	[	[	X
fcis-30626	156	25	51	51	NUM
fcis-30626	156	26	]	]	PUNCT
fcis-30626	156	27	.	.	PUNCT
fcis-30626	157	1	the	the	DET
fcis-30626	157	2	study	study	NOUN
fcis-30626	157	3	leveraged	leverage	VERB
fcis-30626	157	4	flight	flight	NOUN
fcis-30626	157	5	state	state	NOUN
fcis-30626	157	6	and	and	CCONJ
fcis-30626	157	7	desired	desire	VERB
fcis-30626	157	8	information	information	NOUN
fcis-30626	157	9	errors	error	NOUN
fcis-30626	157	10	to	to	PART
fcis-30626	157	11	design	design	VERB
fcis-30626	157	12	control	control	NOUN
fcis-30626	157	13	methods	method	NOUN
fcis-30626	157	14	,	,	PUNCT
fcis-30626	157	15	transforming	transform	VERB
fcis-30626	157	16	the	the	DET
fcis-30626	157	17	problem	problem	NOUN
fcis-30626	157	18	into	into	ADP
fcis-30626	157	19	asymptotic	asymptotic	ADJ
fcis-30626	157	20	stability	stability	NOUN
fcis-30626	157	21	via	via	ADP
fcis-30626	157	22	special	special	ADJ
fcis-30626	157	23	matrix	matrix	NOUN
fcis-30626	157	24	decomposition	decomposition	NOUN
fcis-30626	157	25	and	and	CCONJ
fcis-30626	157	26	deriving	derive	VERB
fcis-30626	157	27	stability	stability	NOUN
fcis-30626	157	28	conditions	condition	NOUN
fcis-30626	157	29	using	use	VERB
fcis-30626	157	30	piecewise	piecewise	NOUN
fcis-30626	157	31	continuous	continuous	ADJ
fcis-30626	157	32	lyapunov	lyapunov	NOUN
fcis-30626	157	33	functionals	functional	NOUN
fcis-30626	157	34	.	.	PUNCT
fcis-30626	158	1	reference	reference	NOUN
fcis-30626	158	2	[	[	X
fcis-30626	158	3	52	52	NUM
fcis-30626	158	4	]	]	PUNCT
fcis-30626	158	5	addressed	address	VERB
fcis-30626	158	6	consensus	consensus	NOUN
fcis-30626	158	7	tracking	tracking	NOUN
fcis-30626	158	8	control	control	NOUN
fcis-30626	158	9	for	for	ADP
fcis-30626	158	10	nonlinear	nonlinear	ADJ
fcis-30626	158	11	multi	multi	ADJ
fcis-30626	158	12	-	-	ADJ
fcis-30626	158	13	agent	agent	ADJ
fcis-30626	158	14	systems	system	NOUN
fcis-30626	158	15	,	,	PUNCT
fcis-30626	158	16	proposing	propose	VERB
fcis-30626	158	17	adaptive	adaptive	ADJ
fcis-30626	158	18	eventtriggered	eventtriggere	VERB
fcis-30626	158	19	strategies	strategy	NOUN
fcis-30626	158	20	that	that	PRON
fcis-30626	158	21	integrate	integrate	VERB
fcis-30626	158	22	asymmetric	asymmetric	ADJ
fcis-30626	158	23	barrier	barrier	NOUN
fcis-30626	158	24	lyapunov	lyapunov	NOUN
fcis-30626	158	25	functions	function	NOUN
fcis-30626	158	26	,	,	PUNCT
fcis-30626	158	27	l	l	PROPN
fcis-30626	158	28	-	-	ADJ
fcis-30626	158	29	k	k	ADJ
fcis-30626	158	30	functionals	functional	NOUN
fcis-30626	158	31	,	,	PUNCT
fcis-30626	158	32	and	and	CCONJ
fcis-30626	158	33	fuzzy	fuzzy	ADJ
fcis-30626	158	34	logic	logic	NOUN
fcis-30626	158	35	systems	system	NOUN
fcis-30626	158	36	to	to	PART
fcis-30626	158	37	handle	handle	VERB
fcis-30626	158	38	output	output	NOUN
fcis-30626	158	39	constraints	constraint	NOUN
fcis-30626	158	40	,	,	PUNCT
fcis-30626	158	41	delays	delay	NOUN
fcis-30626	158	42	,	,	PUNCT
fcis-30626	158	43	and	and	CCONJ
fcis-30626	158	44	nonlinearities	nonlinearitie	NOUN
fcis-30626	158	45	.	.	PUNCT
fcis-30626	159	1	bounded	bound	VERB
fcis-30626	159	2	estimation	estimation	NOUN
fcis-30626	159	3	methods	method	NOUN
fcis-30626	159	4	compensated	compensate	VERB
fcis-30626	159	5	for	for	ADP
fcis-30626	159	6	faults	fault	NOUN
fcis-30626	159	7	and	and	CCONJ
fcis-30626	159	8	errors	error	NOUN
fcis-30626	159	9	,	,	PUNCT
fcis-30626	159	10	with	with	ADP
fcis-30626	159	11	simulations	simulation	NOUN
fcis-30626	159	12	validating	validate	VERB
fcis-30626	159	13	semi	semi	ADJ
fcis-30626	159	14	-	-	ADJ
fcis-30626	159	15	global	global	ADJ
fcis-30626	159	16	bounded	bounded	ADJ
fcis-30626	159	17	stability	stability	NOUN
fcis-30626	159	18	and	and	CCONJ
fcis-30626	159	19	effectiveness	effectiveness	NOUN
fcis-30626	159	20	.	.	PUNCT
fcis-30626	160	1	current	current	ADJ
fcis-30626	160	2	challenges	challenge	NOUN
fcis-30626	160	3	in	in	ADP
fcis-30626	160	4	uav	uav	PROPN
fcis-30626	160	5	formation	formation	NOUN
fcis-30626	160	6	control	control	NOUN
fcis-30626	160	7	include	include	VERB
fcis-30626	160	8	computational	computational	ADJ
fcis-30626	160	9	complexity	complexity	NOUN
fcis-30626	160	10	,	,	PUNCT
fcis-30626	160	11	real	real	ADJ
fcis-30626	160	12	-	-	PUNCT
fcis-30626	160	13	time	time	NOUN
fcis-30626	160	14	performance	performance	NOUN
fcis-30626	160	15	,	,	PUNCT
fcis-30626	160	16	and	and	CCONJ
fcis-30626	160	17	environmental	environmental	ADJ
fcis-30626	160	18	adaptability	adaptability	NOUN
fcis-30626	160	19	[	[	X
fcis-30626	160	20	53	53	NUM
fcis-30626	160	21	]	]	PUNCT
fcis-30626	160	22	.	.	PUNCT
fcis-30626	161	1	as	as	SCONJ
fcis-30626	161	2	formations	formation	NOUN
fcis-30626	161	3	scale	scale	NOUN
fcis-30626	161	4	,	,	PUNCT
fcis-30626	161	5	communication	communication	NOUN
fcis-30626	161	6	and	and	CCONJ
fcis-30626	161	7	control	control	NOUN
fcis-30626	161	8	algorithm	algorithm	NOUN
fcis-30626	161	9	complexity	complexity	NOUN
fcis-30626	161	10	grow	grow	VERB
fcis-30626	161	11	exponentially	exponentially	ADV
fcis-30626	161	12	.	.	PUNCT
fcis-30626	162	1	formation	formation	NOUN
fcis-30626	162	2	control	control	NOUN
fcis-30626	162	3	is	be	AUX
fcis-30626	162	4	highly	highly	ADV
fcis-30626	162	5	sensitive	sensitive	ADJ
fcis-30626	162	6	to	to	ADP
fcis-30626	162	7	time	time	NOUN
fcis-30626	162	8	delays	delay	NOUN
fcis-30626	162	9	,	,	PUNCT
fcis-30626	162	10	especially	especially	ADV
fcis-30626	162	11	in	in	ADP
fcis-30626	162	12	high	high	ADJ
fcis-30626	162	13	-	-	PUNCT
fcis-30626	162	14	speed	speed	NOUN
fcis-30626	162	15	maneuvers	maneuver	NOUN
fcis-30626	162	16	,	,	PUNCT
fcis-30626	162	17	while	while	SCONJ
fcis-30626	162	18	dynamic	dynamic	ADJ
fcis-30626	162	19	environments	environment	NOUN
fcis-30626	162	20	(	(	PUNCT
fcis-30626	162	21	e.g.	e.g.	ADV
fcis-30626	162	22	,	,	PUNCT
fcis-30626	162	23	harsh	harsh	ADJ
fcis-30626	162	24	weather	weather	NOUN
fcis-30626	162	25	,	,	PUNCT
fcis-30626	162	26	urban	urban	ADJ
fcis-30626	162	27	canyons	canyon	NOUN
fcis-30626	162	28	)	)	PUNCT
fcis-30626	162	29	demand	demand	VERB
fcis-30626	162	30	greater	great	ADJ
fcis-30626	162	31	stability	stability	NOUN
fcis-30626	162	32	.	.	PUNCT
fcis-30626	163	1	these	these	DET
fcis-30626	163	2	challenges	challenge	NOUN
fcis-30626	163	3	have	have	AUX
fcis-30626	163	4	spurred	spur	VERB
fcis-30626	163	5	advancements	advancement	NOUN
fcis-30626	163	6	in	in	ADP
fcis-30626	163	7	edge	edge	NOUN
fcis-30626	163	8	computing	computing	NOUN
fcis-30626	163	9	,	,	PUNCT
fcis-30626	163	10	real	real	ADJ
fcis-30626	163	11	-	-	PUNCT
fcis-30626	163	12	time	time	NOUN
fcis-30626	163	13	operating	operating	NOUN
fcis-30626	163	14	systems	system	NOUN
fcis-30626	163	15	,	,	PUNCT
fcis-30626	163	16	and	and	CCONJ
fcis-30626	163	17	adaptive	adaptive	ADJ
fcis-30626	163	18	control	control	NOUN
fcis-30626	163	19	,	,	PUNCT
fcis-30626	163	20	though	though	SCONJ
fcis-30626	163	21	comprehensive	comprehensive	ADJ
fcis-30626	163	22	solutions	solution	NOUN
fcis-30626	163	23	remain	remain	VERB
fcis-30626	163	24	elusive	elusive	ADJ
fcis-30626	163	25	[	[	X
fcis-30626	163	26	54	54	NUM
fcis-30626	163	27	]	]	SYM
fcis-30626	163	28	.	.	PUNCT
fcis-30626	164	1	3	3	X
fcis-30626	164	2	.	.	X
fcis-30626	164	3	research	research	NOUN
fcis-30626	164	4	status	status	NOUN
fcis-30626	164	5	of	of	ADP
fcis-30626	164	6	cybersecurity	cybersecurity	NOUN
fcis-30626	164	7	and	and	CCONJ
fcis-30626	164	8	uav	uav	PROPN
fcis-30626	164	9	systems	system	NOUN
fcis-30626	164	10	the	the	DET
fcis-30626	164	11	cybersecurity	cybersecurity	NOUN
fcis-30626	164	12	threats	threat	NOUN
fcis-30626	164	13	to	to	ADP
fcis-30626	164	14	uav	uav	PROPN
fcis-30626	164	15	systems	system	NOUN
fcis-30626	164	16	are	be	AUX
fcis-30626	164	17	diverse	diverse	ADJ
fcis-30626	164	18	and	and	CCONJ
fcis-30626	164	19	complex	complex	ADJ
fcis-30626	164	20	,	,	PUNCT
fcis-30626	164	21	involving	involve	VERB
fcis-30626	164	22	multiple	multiple	ADJ
fcis-30626	164	23	layers	layer	NOUN
fcis-30626	164	24	such	such	ADJ
fcis-30626	164	25	as	as	ADP
fcis-30626	164	26	data	datum	NOUN
fcis-30626	164	27	,	,	PUNCT
fcis-30626	164	28	communication	communication	NOUN
fcis-30626	164	29	,	,	PUNCT
fcis-30626	164	30	hardware	hardware	NOUN
fcis-30626	164	31	,	,	PUNCT
fcis-30626	164	32	and	and	CCONJ
fcis-30626	164	33	software	software	NOUN
fcis-30626	164	34	.	.	PUNCT
fcis-30626	165	1	these	these	DET
fcis-30626	165	2	threats	threat	NOUN
fcis-30626	165	3	specifically	specifically	ADV
fcis-30626	165	4	include	include	VERB
fcis-30626	165	5	communication	communication	NOUN
fcis-30626	165	6	link	link	NOUN
fcis-30626	165	7	threats	threat	NOUN
fcis-30626	165	8	,	,	PUNCT
fcis-30626	165	9	threats	threat	NOUN
fcis-30626	165	10	to	to	ADP
fcis-30626	165	11	the	the	DET
fcis-30626	165	12	uav	uav	PROPN
fcis-30626	165	13	itself	itself	PRON
fcis-30626	165	14	,	,	PUNCT
fcis-30626	165	15	ground	ground	NOUN
fcis-30626	165	16	control	control	NOUN
fcis-30626	165	17	station	station	NOUN
fcis-30626	165	18	threats	threat	NOUN
fcis-30626	165	19	,	,	PUNCT
fcis-30626	165	20	data	datum	NOUN
fcis-30626	165	21	security	security	NOUN
fcis-30626	165	22	threats	threat	NOUN
fcis-30626	165	23	,	,	PUNCT
fcis-30626	165	24	supply	supply	NOUN
fcis-30626	165	25	chain	chain	NOUN
fcis-30626	165	26	threats	threat	NOUN
fcis-30626	165	27	,	,	PUNCT
fcis-30626	165	28	and	and	CCONJ
fcis-30626	165	29	human	human	ADJ
fcis-30626	165	30	factors	factor	NOUN
fcis-30626	165	31	and	and	CCONJ
fcis-30626	165	32	operational	operational	ADJ
fcis-30626	165	33	security	security	NOUN
fcis-30626	165	34	threats	threat	NOUN
fcis-30626	165	35	.	.	PUNCT
fcis-30626	166	1	the	the	DET
fcis-30626	166	2	threats	threat	NOUN
fcis-30626	166	3	to	to	ADP
fcis-30626	166	4	uav	uav	PROPN
fcis-30626	166	5	systems	system	NOUN
fcis-30626	166	6	in	in	ADP
fcis-30626	166	7	terms	term	NOUN
fcis-30626	166	8	of	of	ADP
fcis-30626	166	9	communication	communication	NOUN
fcis-30626	166	10	links	link	NOUN
fcis-30626	166	11	mainly	mainly	ADV
fcis-30626	166	12	fall	fall	VERB
fcis-30626	166	13	into	into	ADP
fcis-30626	166	14	three	three	NUM
fcis-30626	166	15	categories	category	NOUN
fcis-30626	166	16	:	:	PUNCT
fcis-30626	166	17	denial	denial	NOUN
fcis-30626	166	18	-	-	PUNCT
fcis-30626	166	19	of	of	ADP
fcis-30626	166	20	-	-	PUNCT
fcis-30626	166	21	service	service	NOUN
fcis-30626	166	22	(	(	PUNCT
fcis-30626	166	23	dos	do	NOUN
fcis-30626	166	24	)	)	PUNCT
fcis-30626	166	25	attacks	attack	NOUN
fcis-30626	166	26	,	,	PUNCT
fcis-30626	166	27	deception	deception	NOUN
fcis-30626	166	28	attacks	attack	NOUN
fcis-30626	166	29	,	,	PUNCT
fcis-30626	166	30	and	and	CCONJ
fcis-30626	166	31	eavesdropping	eavesdropping	NOUN
fcis-30626	166	32	attacks	attack	NOUN
fcis-30626	166	33	.	.	PUNCT
fcis-30626	167	1	dos	do	NOUN
fcis-30626	167	2	attacks	attack	NOUN
fcis-30626	167	3	occupy	occupy	VERB
fcis-30626	167	4	communication	communication	NOUN
fcis-30626	167	5	resources	resource	NOUN
fcis-30626	167	6	,	,	PUNCT
fcis-30626	167	7	preventing	prevent	VERB
fcis-30626	167	8	legitimate	legitimate	ADJ
fcis-30626	167	9	information	information	NOUN
fcis-30626	167	10	from	from	ADP
fcis-30626	167	11	being	be	AUX
fcis-30626	167	12	transmitted	transmit	VERB
fcis-30626	167	13	,	,	PUNCT
fcis-30626	167	14	such	such	ADJ
fcis-30626	167	15	as	as	ADP
fcis-30626	167	16	jamming	jam	VERB
fcis-30626	167	17	the	the	DET
fcis-30626	167	18	communication	communication	NOUN
fcis-30626	167	19	link	link	NOUN
fcis-30626	167	20	between	between	ADP
fcis-30626	167	21	the	the	DET
fcis-30626	167	22	uav	uav	PROPN
fcis-30626	167	23	and	and	CCONJ
fcis-30626	167	24	the	the	DET
fcis-30626	167	25	ground	ground	NOUN
fcis-30626	167	26	station	station	NOUN
fcis-30626	167	27	.	.	PUNCT
fcis-30626	168	1	eavesdropping	eavesdropping	NOUN
fcis-30626	168	2	attacks	attack	NOUN
fcis-30626	168	3	passively	passively	ADV
fcis-30626	168	4	intercept	intercept	VERB
fcis-30626	168	5	sensitive	sensitive	ADJ
fcis-30626	168	6	data	datum	NOUN
fcis-30626	168	7	transmitted	transmit	VERB
fcis-30626	168	8	by	by	ADP
fcis-30626	168	9	uavs	uavs	NOUN
fcis-30626	168	10	,	,	PUNCT
fcis-30626	168	11	while	while	SCONJ
fcis-30626	168	12	deception	deception	NOUN
fcis-30626	168	13	attacks	attack	NOUN
fcis-30626	168	14	are	be	AUX
fcis-30626	168	15	considered	consider	VERB
fcis-30626	168	16	the	the	DET
fcis-30626	168	17	most	most	ADV
fcis-30626	168	18	stealthy	stealthy	ADJ
fcis-30626	168	19	and	and	CCONJ
fcis-30626	168	20	destructive	destructive	ADJ
fcis-30626	168	21	,	,	PUNCT
fcis-30626	168	22	as	as	SCONJ
fcis-30626	168	23	they	they	PRON
fcis-30626	168	24	inject	inject	VERB
fcis-30626	168	25	false	false	ADJ
fcis-30626	168	26	data	datum	NOUN
fcis-30626	168	27	to	to	PART
fcis-30626	168	28	mislead	mislead	VERB
fcis-30626	168	29	uav	uav	PROPN
fcis-30626	168	30	systems	system	NOUN
fcis-30626	168	31	into	into	ADP
fcis-30626	168	32	making	make	VERB
fcis-30626	168	33	erroneous	erroneous	ADJ
fcis-30626	168	34	decisions	decision	NOUN
fcis-30626	168	35	.	.	PUNCT
fcis-30626	169	1	161	161	NUM
fcis-30626	169	2	uav	uav	PROPN
fcis-30626	169	3	formation	formation	NOUN
fcis-30626	169	4	control	control	NOUN
fcis-30626	169	5	under	under	ADP
fcis-30626	169	6	dos	do	NOUN
fcis-30626	169	7	attacks	attack	NOUN
fcis-30626	169	8	refers	refer	VERB
fcis-30626	169	9	to	to	ADP
fcis-30626	169	10	the	the	DET
fcis-30626	169	11	system	system	NOUN
fcis-30626	169	12	maintaining	maintain	VERB
fcis-30626	169	13	formation	formation	NOUN
fcis-30626	169	14	stability	stability	NOUN
fcis-30626	169	15	and	and	CCONJ
fcis-30626	169	16	coordination	coordination	NOUN
fcis-30626	169	17	through	through	ADP
fcis-30626	169	18	specific	specific	ADJ
fcis-30626	169	19	control	control	NOUN
fcis-30626	169	20	strategies	strategy	NOUN
fcis-30626	169	21	and	and	CCONJ
fcis-30626	169	22	algorithms	algorithm	NOUN
fcis-30626	169	23	when	when	SCONJ
fcis-30626	169	24	subjected	subject	VERB
fcis-30626	169	25	to	to	ADP
fcis-30626	169	26	malicious	malicious	ADJ
fcis-30626	169	27	attacks	attack	NOUN
fcis-30626	169	28	.	.	PUNCT
fcis-30626	170	1	the	the	DET
fcis-30626	170	2	core	core	NOUN
fcis-30626	170	3	of	of	ADP
fcis-30626	170	4	this	this	DET
fcis-30626	170	5	control	control	NOUN
fcis-30626	170	6	mechanism	mechanism	NOUN
fcis-30626	170	7	lies	lie	VERB
fcis-30626	170	8	in	in	ADP
fcis-30626	170	9	analyzing	analyze	VERB
fcis-30626	170	10	the	the	DET
fcis-30626	170	11	impact	impact	NOUN
fcis-30626	170	12	of	of	ADP
fcis-30626	170	13	attacks	attack	NOUN
fcis-30626	170	14	on	on	ADP
fcis-30626	170	15	uav	uav	PROPN
fcis-30626	170	16	communication	communication	NOUN
fcis-30626	170	17	and	and	CCONJ
fcis-30626	170	18	decision	decision	NOUN
fcis-30626	170	19	-	-	PUNCT
fcis-30626	170	20	making	make	VERB
fcis-30626	170	21	processes	process	NOUN
fcis-30626	170	22	and	and	CCONJ
fcis-30626	170	23	adopting	adopt	VERB
fcis-30626	170	24	corresponding	corresponding	ADJ
fcis-30626	170	25	defensive	defensive	ADJ
fcis-30626	170	26	measures	measure	NOUN
fcis-30626	170	27	to	to	PART
fcis-30626	170	28	ensure	ensure	VERB
fcis-30626	170	29	the	the	DET
fcis-30626	170	30	formation	formation	NOUN
fcis-30626	170	31	can	can	AUX
fcis-30626	170	32	effectively	effectively	ADV
fcis-30626	170	33	execute	execute	VERB
fcis-30626	170	34	predefined	predefine	VERB
fcis-30626	170	35	tasks	task	NOUN
fcis-30626	170	36	and	and	CCONJ
fcis-30626	170	37	maintain	maintain	VERB
fcis-30626	170	38	system	system	NOUN
fcis-30626	170	39	resilience	resilience	NOUN
fcis-30626	170	40	and	and	CCONJ
fcis-30626	170	41	reliability	reliability	NOUN
fcis-30626	170	42	in	in	ADP
fcis-30626	170	43	hostile	hostile	ADJ
fcis-30626	170	44	environments	environment	NOUN
fcis-30626	170	45	.	.	PUNCT
fcis-30626	171	1	in	in	ADP
fcis-30626	171	2	the	the	DET
fcis-30626	171	3	development	development	NOUN
fcis-30626	171	4	of	of	ADP
fcis-30626	171	5	uav	uav	PROPN
fcis-30626	171	6	formation	formation	NOUN
fcis-30626	171	7	control	control	NOUN
fcis-30626	171	8	under	under	ADP
fcis-30626	171	9	dos	do	NOUN
fcis-30626	171	10	attacks	attack	NOUN
fcis-30626	171	11	,	,	PUNCT
fcis-30626	171	12	increasing	increase	VERB
fcis-30626	171	13	attention	attention	NOUN
fcis-30626	171	14	has	have	AUX
fcis-30626	171	15	been	be	AUX
fcis-30626	171	16	paid	pay	VERB
fcis-30626	171	17	to	to	ADP
fcis-30626	171	18	the	the	DET
fcis-30626	171	19	resilience	resilience	NOUN
fcis-30626	171	20	and	and	CCONJ
fcis-30626	171	21	security	security	NOUN
fcis-30626	171	22	of	of	ADP
fcis-30626	171	23	mas	mas	PROPN
fcis-30626	171	24	against	against	ADP
fcis-30626	171	25	cyber	cyber	PROPN
fcis-30626	171	26	threats	threat	NOUN
fcis-30626	171	27	.	.	PUNCT
fcis-30626	172	1	various	various	ADJ
fcis-30626	172	2	studies	study	NOUN
fcis-30626	172	3	have	have	AUX
fcis-30626	172	4	explored	explore	VERB
fcis-30626	172	5	different	different	ADJ
fcis-30626	172	6	aspects	aspect	NOUN
fcis-30626	172	7	of	of	ADP
fcis-30626	172	8	formation	formation	NOUN
fcis-30626	172	9	control	control	NOUN
fcis-30626	172	10	under	under	ADP
fcis-30626	172	11	dos	do	NOUN
fcis-30626	172	12	attacks	attack	NOUN
fcis-30626	172	13	,	,	PUNCT
fcis-30626	172	14	emphasizing	emphasize	VERB
fcis-30626	172	15	the	the	DET
fcis-30626	172	16	need	need	NOUN
fcis-30626	172	17	for	for	ADP
fcis-30626	172	18	robust	robust	ADJ
fcis-30626	172	19	strategies	strategy	NOUN
fcis-30626	172	20	to	to	PART
fcis-30626	172	21	preserve	preserve	VERB
fcis-30626	172	22	operational	operational	ADJ
fcis-30626	172	23	integrity	integrity	NOUN
fcis-30626	172	24	.	.	PUNCT
fcis-30626	173	1	wang	wang	PROPN
fcis-30626	173	2	et	et	PROPN
fcis-30626	173	3	al	al	PROPN
fcis-30626	173	4	.	.	PUNCT
fcis-30626	174	1	[	[	X
fcis-30626	174	2	55	55	NUM
fcis-30626	174	3	]	]	PUNCT
fcis-30626	174	4	introduced	introduce	VERB
fcis-30626	174	5	an	an	DET
fcis-30626	174	6	attack	attack	NOUN
fcis-30626	174	7	-	-	PUNCT
fcis-30626	174	8	resilient	resilient	ADJ
fcis-30626	174	9	eventtriggered	eventtriggere	VERB
fcis-30626	174	10	formation	formation	NOUN
fcis-30626	174	11	control	control	NOUN
fcis-30626	174	12	framework	framework	NOUN
fcis-30626	174	13	for	for	ADP
fcis-30626	174	14	mas	mas	PROPN
fcis-30626	174	15	,	,	PUNCT
fcis-30626	174	16	specifically	specifically	ADV
fcis-30626	174	17	targeting	target	VERB
fcis-30626	174	18	periodic	periodic	ADJ
fcis-30626	174	19	dos	do	NOUN
fcis-30626	174	20	attacks	attack	NOUN
fcis-30626	174	21	.	.	PUNCT
fcis-30626	175	1	their	their	PRON
fcis-30626	175	2	approach	approach	NOUN
fcis-30626	175	3	leverages	leverage	NOUN
fcis-30626	175	4	sophisticated	sophisticated	ADJ
fcis-30626	175	5	laplacian	laplacian	ADJ
fcis-30626	175	6	matrices	matrix	NOUN
fcis-30626	175	7	to	to	PART
fcis-30626	175	8	enhance	enhance	VERB
fcis-30626	175	9	system	system	NOUN
fcis-30626	175	10	resilience	resilience	NOUN
fcis-30626	175	11	,	,	PUNCT
fcis-30626	175	12	demonstrating	demonstrate	VERB
fcis-30626	175	13	that	that	SCONJ
fcis-30626	175	14	event	event	NOUN
fcis-30626	175	15	-	-	PUNCT
fcis-30626	175	16	triggered	trigger	VERB
fcis-30626	175	17	mechanisms	mechanism	NOUN
fcis-30626	175	18	can	can	AUX
fcis-30626	175	19	effectively	effectively	ADV
fcis-30626	175	20	mitigate	mitigate	VERB
fcis-30626	175	21	the	the	DET
fcis-30626	175	22	impact	impact	NOUN
fcis-30626	175	23	of	of	ADP
fcis-30626	175	24	such	such	ADJ
fcis-30626	175	25	attacks	attack	NOUN
fcis-30626	175	26	on	on	ADP
fcis-30626	175	27	formation	formation	NOUN
fcis-30626	175	28	stability	stability	NOUN
fcis-30626	175	29	.	.	PUNCT
fcis-30626	176	1	pan	pan	PROPN
fcis-30626	176	2	et	et	PROPN
fcis-30626	176	3	al	al	PROPN
fcis-30626	176	4	.	.	PUNCT
fcis-30626	177	1	[	[	X
fcis-30626	177	2	56	56	NUM
fcis-30626	177	3	]	]	PUNCT
fcis-30626	177	4	expanded	expand	VERB
fcis-30626	177	5	the	the	DET
fcis-30626	177	6	discussion	discussion	NOUN
fcis-30626	177	7	by	by	ADP
fcis-30626	177	8	investigating	investigate	VERB
fcis-30626	177	9	multi	multi	ADJ
fcis-30626	177	10	-	-	ADJ
fcis-30626	177	11	channel	channel	ADJ
fcis-30626	177	12	dos	do	NOUN
fcis-30626	177	13	attacks	attack	NOUN
fcis-30626	177	14	,	,	PUNCT
fcis-30626	177	15	where	where	SCONJ
fcis-30626	177	16	the	the	DET
fcis-30626	177	17	independence	independence	NOUN
fcis-30626	177	18	of	of	ADP
fcis-30626	177	19	attacks	attack	NOUN
fcis-30626	177	20	across	across	ADP
fcis-30626	177	21	channels	channel	NOUN
fcis-30626	177	22	presents	present	VERB
fcis-30626	177	23	unique	unique	ADJ
fcis-30626	177	24	challenges	challenge	NOUN
fcis-30626	177	25	.	.	PUNCT
fcis-30626	178	1	their	their	PRON
fcis-30626	178	2	findings	finding	NOUN
fcis-30626	178	3	suggest	suggest	VERB
fcis-30626	178	4	that	that	SCONJ
fcis-30626	178	5	existing	exist	VERB
fcis-30626	178	6	models	model	NOUN
fcis-30626	178	7	,	,	PUNCT
fcis-30626	178	8	which	which	PRON
fcis-30626	178	9	often	often	ADV
fcis-30626	178	10	assume	assume	VERB
fcis-30626	178	11	uniform	uniform	ADJ
fcis-30626	178	12	attack	attack	NOUN
fcis-30626	178	13	patterns	pattern	NOUN
fcis-30626	178	14	,	,	PUNCT
fcis-30626	178	15	may	may	AUX
fcis-30626	178	16	fail	fail	VERB
fcis-30626	178	17	to	to	PART
fcis-30626	178	18	fully	fully	ADV
fcis-30626	178	19	capture	capture	VERB
fcis-30626	178	20	the	the	DET
fcis-30626	178	21	complexity	complexity	NOUN
fcis-30626	178	22	of	of	ADP
fcis-30626	178	23	real	real	ADJ
fcis-30626	178	24	-	-	PUNCT
fcis-30626	178	25	world	world	NOUN
fcis-30626	178	26	scenarios	scenario	NOUN
fcis-30626	178	27	,	,	PUNCT
fcis-30626	178	28	necessitating	necessitate	VERB
fcis-30626	178	29	more	more	ADV
fcis-30626	178	30	nuanced	nuanced	ADJ
fcis-30626	178	31	control	control	NOUN
fcis-30626	178	32	strategies	strategy	NOUN
fcis-30626	178	33	.	.	PUNCT
fcis-30626	179	1	liu	liu	PROPN
fcis-30626	179	2	et	et	PROPN
fcis-30626	179	3	al	al	PROPN
fcis-30626	179	4	.	.	PUNCT
fcis-30626	180	1	[	[	X
fcis-30626	180	2	57	57	NUM
fcis-30626	180	3	]	]	PUNCT
fcis-30626	180	4	contributed	contribute	VERB
fcis-30626	180	5	to	to	ADP
fcis-30626	180	6	the	the	DET
fcis-30626	180	7	discussion	discussion	NOUN
fcis-30626	180	8	by	by	ADP
fcis-30626	180	9	addressing	address	VERB
fcis-30626	180	10	the	the	DET
fcis-30626	180	11	formation	formation	NOUN
fcis-30626	180	12	control	control	NOUN
fcis-30626	180	13	of	of	ADP
fcis-30626	180	14	cyberphysical	cyberphysical	ADJ
fcis-30626	180	15	systems	system	NOUN
fcis-30626	180	16	under	under	ADP
fcis-30626	180	17	dos	do	NOUN
fcis-30626	180	18	attacks	attack	NOUN
fcis-30626	180	19	and	and	CCONJ
fcis-30626	180	20	faults	fault	NOUN
fcis-30626	180	21	.	.	PUNCT
fcis-30626	181	1	their	their	PRON
fcis-30626	181	2	distributed	distribute	VERB
fcis-30626	181	3	control	control	NOUN
fcis-30626	181	4	protocol	protocol	NOUN
fcis-30626	181	5	incorporates	incorporate	VERB
fcis-30626	181	6	event	event	NOUN
fcis-30626	181	7	-	-	PUNCT
fcis-30626	181	8	triggered	trigger	VERB
fcis-30626	181	9	techniques	technique	NOUN
fcis-30626	181	10	and	and	CCONJ
fcis-30626	181	11	proactive	proactive	ADJ
fcis-30626	181	12	reconfiguration	reconfiguration	NOUN
fcis-30626	181	13	strategies	strategy	NOUN
fcis-30626	181	14	,	,	PUNCT
fcis-30626	181	15	showcasing	showcase	VERB
fcis-30626	181	16	a	a	DET
fcis-30626	181	17	comprehensive	comprehensive	ADJ
fcis-30626	181	18	approach	approach	NOUN
fcis-30626	181	19	to	to	ADP
fcis-30626	181	20	ensuring	ensure	VERB
fcis-30626	181	21	system	system	NOUN
fcis-30626	181	22	resilience	resilience	NOUN
fcis-30626	181	23	against	against	ADP
fcis-30626	181	24	cyber	cyber	PROPN
fcis-30626	181	25	threats	threat	NOUN
fcis-30626	181	26	.	.	PUNCT
fcis-30626	182	1	zheng	zheng	PROPN
fcis-30626	182	2	et	et	PROPN
fcis-30626	182	3	al	al	PROPN
fcis-30626	182	4	.	.	PUNCT
fcis-30626	183	1	[	[	X
fcis-30626	183	2	58	58	NUM
fcis-30626	183	3	]	]	PUNCT
fcis-30626	183	4	proposed	propose	VERB
fcis-30626	183	5	a	a	DET
fcis-30626	183	6	distributed	distribute	VERB
fcis-30626	183	7	secure	secure	ADJ
fcis-30626	183	8	formation	formation	NOUN
fcis-30626	183	9	control	control	NOUN
fcis-30626	183	10	algorithm	algorithm	NOUN
fcis-30626	183	11	for	for	ADP
fcis-30626	183	12	autonomous	autonomous	ADJ
fcis-30626	183	13	surface	surface	NOUN
fcis-30626	183	14	vehicles	vehicle	NOUN
fcis-30626	183	15	,	,	PUNCT
fcis-30626	183	16	focusing	focus	VERB
fcis-30626	183	17	on	on	ADP
fcis-30626	183	18	mitigating	mitigate	VERB
fcis-30626	183	19	the	the	DET
fcis-30626	183	20	impact	impact	NOUN
fcis-30626	183	21	of	of	ADP
fcis-30626	183	22	dos	do	NOUN
fcis-30626	183	23	attacks	attack	NOUN
fcis-30626	183	24	through	through	ADP
fcis-30626	183	25	a	a	DET
fcis-30626	183	26	performance	performance	NOUN
fcis-30626	183	27	-	-	PUNCT
fcis-30626	183	28	adjustable	adjustable	ADJ
fcis-30626	183	29	event	event	NOUN
fcis-30626	183	30	-	-	PUNCT
fcis-30626	183	31	triggered	trigger	VERB
fcis-30626	183	32	mechanism	mechanism	NOUN
fcis-30626	183	33	.	.	PUNCT
fcis-30626	184	1	this	this	DET
fcis-30626	184	2	work	work	NOUN
fcis-30626	184	3	highlights	highlight	VERB
fcis-30626	184	4	the	the	DET
fcis-30626	184	5	importance	importance	NOUN
fcis-30626	184	6	of	of	ADP
fcis-30626	184	7	adaptive	adaptive	ADJ
fcis-30626	184	8	control	control	NOUN
fcis-30626	184	9	strategies	strategy	NOUN
fcis-30626	184	10	in	in	ADP
fcis-30626	184	11	maintaining	maintain	VERB
fcis-30626	184	12	formation	formation	NOUN
fcis-30626	184	13	integrity	integrity	NOUN
fcis-30626	184	14	amid	amid	ADP
fcis-30626	184	15	network	network	NOUN
fcis-30626	184	16	disruptions	disruption	NOUN
fcis-30626	184	17	.	.	PUNCT
fcis-30626	185	1	overall	overall	ADV
fcis-30626	185	2	,	,	PUNCT
fcis-30626	185	3	there	there	PRON
fcis-30626	185	4	is	be	VERB
fcis-30626	185	5	a	a	DET
fcis-30626	185	6	clear	clear	ADJ
fcis-30626	185	7	trend	trend	NOUN
fcis-30626	185	8	toward	toward	ADP
fcis-30626	185	9	developing	develop	VERB
fcis-30626	185	10	sophisticated	sophisticated	ADJ
fcis-30626	185	11	,	,	PUNCT
fcis-30626	185	12	adaptive	adaptive	ADJ
fcis-30626	185	13	,	,	PUNCT
fcis-30626	185	14	and	and	CCONJ
fcis-30626	185	15	resilient	resilient	ADJ
fcis-30626	185	16	control	control	NOUN
fcis-30626	185	17	strategies	strategy	NOUN
fcis-30626	185	18	for	for	ADP
fcis-30626	185	19	uav	uav	PROPN
fcis-30626	185	20	formations	formation	NOUN
fcis-30626	185	21	in	in	ADP
fcis-30626	185	22	the	the	DET
fcis-30626	185	23	face	face	NOUN
fcis-30626	185	24	of	of	ADP
fcis-30626	185	25	dos	do	NOUN
fcis-30626	185	26	attacks	attack	NOUN
fcis-30626	185	27	.	.	PUNCT
fcis-30626	186	1	uav	uav	PROPN
fcis-30626	186	2	formation	formation	NOUN
fcis-30626	186	3	control	control	NOUN
fcis-30626	186	4	under	under	ADP
fcis-30626	186	5	deception	deception	NOUN
fcis-30626	186	6	attacks	attack	NOUN
fcis-30626	186	7	refers	refer	VERB
fcis-30626	186	8	to	to	ADP
fcis-30626	186	9	the	the	DET
fcis-30626	186	10	system	system	NOUN
fcis-30626	186	11	maintaining	maintain	VERB
fcis-30626	186	12	decision	decision	NOUN
fcis-30626	186	13	-	-	PUNCT
fcis-30626	186	14	making	make	VERB
fcis-30626	186	15	accuracy	accuracy	NOUN
fcis-30626	186	16	and	and	CCONJ
fcis-30626	186	17	mission	mission	NOUN
fcis-30626	186	18	execution	execution	NOUN
fcis-30626	186	19	efficiency	efficiency	NOUN
fcis-30626	186	20	by	by	ADP
fcis-30626	186	21	implementing	implement	VERB
fcis-30626	186	22	specific	specific	ADJ
fcis-30626	186	23	identification	identification	NOUN
fcis-30626	186	24	and	and	CCONJ
fcis-30626	186	25	verification	verification	NOUN
fcis-30626	186	26	algorithms	algorithm	NOUN
fcis-30626	186	27	when	when	SCONJ
fcis-30626	186	28	encountering	encounter	VERB
fcis-30626	186	29	false	false	ADJ
fcis-30626	186	30	information	information	NOUN
fcis-30626	186	31	or	or	CCONJ
fcis-30626	186	32	misleading	misleading	ADJ
fcis-30626	186	33	instructions	instruction	NOUN
fcis-30626	186	34	.	.	PUNCT
fcis-30626	187	1	the	the	DET
fcis-30626	187	2	key	key	NOUN
fcis-30626	187	3	to	to	ADP
fcis-30626	187	4	this	this	DET
fcis-30626	187	5	control	control	NOUN
fcis-30626	187	6	strategy	strategy	NOUN
fcis-30626	187	7	lies	lie	VERB
fcis-30626	187	8	in	in	ADP
fcis-30626	187	9	assessing	assess	VERB
fcis-30626	187	10	the	the	DET
fcis-30626	187	11	credibility	credibility	NOUN
fcis-30626	187	12	of	of	ADP
fcis-30626	187	13	information	information	NOUN
fcis-30626	187	14	sources	source	NOUN
fcis-30626	187	15	and	and	CCONJ
fcis-30626	187	16	monitoring	monitor	VERB
fcis-30626	187	17	abnormal	abnormal	ADJ
fcis-30626	187	18	behavior	behavior	NOUN
fcis-30626	187	19	in	in	ADP
fcis-30626	187	20	real	real	ADJ
fcis-30626	187	21	time	time	NOUN
fcis-30626	187	22	to	to	PART
fcis-30626	187	23	ensure	ensure	VERB
fcis-30626	187	24	uavs	uavs	NOUN
fcis-30626	187	25	can	can	AUX
fcis-30626	187	26	effectively	effectively	ADV
fcis-30626	187	27	identify	identify	VERB
fcis-30626	187	28	and	and	CCONJ
fcis-30626	187	29	resist	resist	VERB
fcis-30626	187	30	potential	potential	ADJ
fcis-30626	187	31	spoofing	spoofing	NOUN
fcis-30626	187	32	threats	threat	NOUN
fcis-30626	187	33	,	,	PUNCT
fcis-30626	187	34	thereby	thereby	ADV
fcis-30626	187	35	achieving	achieve	VERB
fcis-30626	187	36	formation	formation	NOUN
fcis-30626	187	37	security	security	NOUN
fcis-30626	187	38	and	and	CCONJ
fcis-30626	187	39	stability	stability	NOUN
fcis-30626	187	40	.	.	PUNCT
fcis-30626	188	1	research	research	NOUN
fcis-30626	188	2	on	on	ADP
fcis-30626	188	3	deception	deception	NOUN
fcis-30626	188	4	attacks	attack	NOUN
fcis-30626	188	5	primarily	primarily	ADV
fcis-30626	188	6	focuses	focus	VERB
fcis-30626	188	7	on	on	ADP
fcis-30626	188	8	two	two	NUM
fcis-30626	188	9	directions	direction	NOUN
fcis-30626	188	10	:	:	PUNCT
fcis-30626	188	11	attack	attack	NOUN
fcis-30626	188	12	modeling	modeling	NOUN
fcis-30626	188	13	and	and	CCONJ
fcis-30626	188	14	detection	detection	NOUN
fcis-30626	188	15	methods	method	NOUN
fcis-30626	188	16	.	.	PUNCT
fcis-30626	189	1	in	in	ADP
fcis-30626	189	2	attack	attack	NOUN
fcis-30626	189	3	modeling	modeling	NOUN
fcis-30626	189	4	,	,	PUNCT
fcis-30626	189	5	deception	deception	NOUN
fcis-30626	189	6	attacks	attack	NOUN
fcis-30626	189	7	are	be	AUX
fcis-30626	189	8	classified	classify	VERB
fcis-30626	189	9	into	into	ADP
fcis-30626	189	10	sensor	sensor	NOUN
fcis-30626	189	11	spoofing	spoof	VERB
fcis-30626	189	12	(	(	PUNCT
fcis-30626	189	13	e.g.	e.g.	ADV
fcis-30626	189	14	,	,	PUNCT
fcis-30626	189	15	tampering	tamper	VERB
fcis-30626	189	16	with	with	ADP
fcis-30626	189	17	gps	gps	PROPN
fcis-30626	189	18	,	,	PUNCT
fcis-30626	189	19	visual	visual	ADJ
fcis-30626	189	20	,	,	PUNCT
fcis-30626	189	21	or	or	CCONJ
fcis-30626	189	22	radar	radar	NOUN
fcis-30626	189	23	perception	perception	NOUN
fcis-30626	189	24	data	datum	NOUN
fcis-30626	189	25	)	)	PUNCT
fcis-30626	189	26	and	and	CCONJ
fcis-30626	189	27	communication	communication	NOUN
fcis-30626	189	28	spoofing	spoofing	NOUN
fcis-30626	189	29	(	(	PUNCT
fcis-30626	189	30	e.g.	e.g.	ADV
fcis-30626	189	31	,	,	PUNCT
fcis-30626	189	32	identity	identity	NOUN
fcis-30626	189	33	impersonation	impersonation	NOUN
fcis-30626	189	34	or	or	CCONJ
fcis-30626	189	35	packet	packet	NOUN
fcis-30626	189	36	tampering	tampering	NOUN
fcis-30626	189	37	)	)	PUNCT
fcis-30626	189	38	.	.	PUNCT
fcis-30626	190	1	in	in	ADP
fcis-30626	190	2	detection	detection	NOUN
fcis-30626	190	3	methods	method	NOUN
fcis-30626	190	4	,	,	PUNCT
fcis-30626	190	5	kalman	kalman	NOUN
fcis-30626	190	6	filtering	filtering	NOUN
fcis-30626	190	7	,	,	PUNCT
fcis-30626	190	8	statistical	statistical	ADJ
fcis-30626	190	9	hypothesis	hypothesis	NOUN
fcis-30626	190	10	testing	testing	NOUN
fcis-30626	190	11	,	,	PUNCT
fcis-30626	190	12	and	and	CCONJ
fcis-30626	190	13	machine	machine	NOUN
fcis-30626	190	14	learning	learning	NOUN
fcis-30626	190	15	have	have	AUX
fcis-30626	190	16	emerged	emerge	VERB
fcis-30626	190	17	as	as	ADP
fcis-30626	190	18	mainstream	mainstream	NOUN
fcis-30626	190	19	technical	technical	ADJ
fcis-30626	190	20	approaches	approach	NOUN
fcis-30626	190	21	.	.	PUNCT
fcis-30626	191	1	wang	wang	PROPN
fcis-30626	191	2	et	et	PROPN
fcis-30626	191	3	al	al	PROPN
fcis-30626	191	4	.	.	PUNCT
fcis-30626	192	1	[	[	X
fcis-30626	192	2	59	59	NUM
fcis-30626	192	3	]	]	PUNCT
fcis-30626	192	4	introduced	introduce	VERB
fcis-30626	192	5	an	an	DET
fcis-30626	192	6	adversarial	adversarial	ADJ
fcis-30626	192	7	obstacle	obstacle	NOUN
fcis-30626	192	8	generation	generation	NOUN
fcis-30626	192	9	algorithm	algorithm	NOUN
fcis-30626	192	10	targeting	target	VERB
fcis-30626	192	11	lidar	lidar	NOUN
fcis-30626	192	12	-	-	PUNCT
fcis-30626	192	13	based	base	VERB
fcis-30626	192	14	3d	3d	PROPN
fcis-30626	192	15	object	object	NOUN
fcis-30626	192	16	detection	detection	NOUN
fcis-30626	192	17	systems	system	NOUN
fcis-30626	192	18	.	.	PUNCT
fcis-30626	193	1	their	their	PRON
fcis-30626	193	2	study	study	NOUN
fcis-30626	193	3	highlights	highlight	VERB
fcis-30626	193	4	the	the	DET
fcis-30626	193	5	potential	potential	NOUN
fcis-30626	193	6	for	for	ADP
fcis-30626	193	7	spoofed	spoofed	ADJ
fcis-30626	193	8	obstacles	obstacle	NOUN
fcis-30626	193	9	to	to	PART
fcis-30626	193	10	mislead	mislead	VERB
fcis-30626	193	11	detection	detection	NOUN
fcis-30626	193	12	algorithms	algorithm	NOUN
fcis-30626	193	13	,	,	PUNCT
fcis-30626	193	14	which	which	PRON
fcis-30626	193	15	is	be	AUX
fcis-30626	193	16	critical	critical	ADJ
fcis-30626	193	17	for	for	ADP
fcis-30626	193	18	uavs	uavs	NOUN
fcis-30626	193	19	operating	operate	VERB
fcis-30626	193	20	in	in	ADP
fcis-30626	193	21	complex	complex	ADJ
fcis-30626	193	22	environments	environment	NOUN
fcis-30626	193	23	.	.	PUNCT
fcis-30626	194	1	this	this	DET
fcis-30626	194	2	fundamental	fundamental	ADJ
fcis-30626	194	3	understanding	understanding	NOUN
fcis-30626	194	4	of	of	ADP
fcis-30626	194	5	spoofing	spoof	VERB
fcis-30626	194	6	behavior	behavior	NOUN
fcis-30626	194	7	in	in	ADP
fcis-30626	194	8	sensor	sensor	NOUN
fcis-30626	194	9	systems	system	NOUN
fcis-30626	194	10	is	be	AUX
fcis-30626	194	11	essential	essential	ADJ
fcis-30626	194	12	for	for	ADP
fcis-30626	194	13	developing	develop	VERB
fcis-30626	194	14	robust	robust	ADJ
fcis-30626	194	15	formation	formation	NOUN
fcis-30626	194	16	control	control	NOUN
fcis-30626	194	17	strategies	strategy	NOUN
fcis-30626	194	18	.	.	PUNCT
fcis-30626	195	1	study	study	NOUN
fcis-30626	195	2	[	[	X
fcis-30626	195	3	60	60	NUM
fcis-30626	195	4	]	]	PUNCT
fcis-30626	195	5	developed	develop	VERB
fcis-30626	195	6	an	an	DET
fcis-30626	195	7	event	event	NOUN
fcis-30626	195	8	-	-	PUNCT
fcis-30626	195	9	triggered	trigger	VERB
fcis-30626	195	10	formation	formation	NOUN
fcis-30626	195	11	tracking	tracking	NOUN
fcis-30626	195	12	control	control	NOUN
fcis-30626	195	13	method	method	NOUN
fcis-30626	195	14	capable	capable	ADJ
fcis-30626	195	15	of	of	ADP
fcis-30626	195	16	countering	counter	VERB
fcis-30626	195	17	cyberattacks	cyberattack	NOUN
fcis-30626	195	18	,	,	PUNCT
fcis-30626	195	19	including	include	VERB
fcis-30626	195	20	deception	deception	NOUN
fcis-30626	195	21	attacks	attack	NOUN
fcis-30626	195	22	.	.	PUNCT
fcis-30626	196	1	this	this	DET
fcis-30626	196	2	approach	approach	NOUN
fcis-30626	196	3	employs	employ	VERB
fcis-30626	196	4	a	a	DET
fcis-30626	196	5	control	control	NOUN
fcis-30626	196	6	protocol	protocol	NOUN
fcis-30626	196	7	that	that	PRON
fcis-30626	196	8	enables	enable	VERB
fcis-30626	196	9	uavs	uavs	NOUN
fcis-30626	196	10	to	to	PART
fcis-30626	196	11	maintain	maintain	VERB
fcis-30626	196	12	their	their	PRON
fcis-30626	196	13	formation	formation	NOUN
fcis-30626	196	14	even	even	ADV
fcis-30626	196	15	under	under	ADP
fcis-30626	196	16	malicious	malicious	ADJ
fcis-30626	196	17	interference	interference	NOUN
fcis-30626	196	18	.	.	PUNCT
fcis-30626	197	1	additionally	additionally	ADV
fcis-30626	197	2	,	,	PUNCT
fcis-30626	197	3	study	study	VERB
fcis-30626	197	4	[	[	X
fcis-30626	197	5	61	61	NUM
fcis-30626	197	6	]	]	PUNCT
fcis-30626	197	7	investigated	investigate	VERB
fcis-30626	197	8	the	the	DET
fcis-30626	197	9	concept	concept	NOUN
fcis-30626	197	10	of	of	ADP
fcis-30626	197	11	induced	induced	ADJ
fcis-30626	197	12	attacks	attack	NOUN
fcis-30626	197	13	on	on	ADP
fcis-30626	197	14	formation	formation	NOUN
fcis-30626	197	15	control	control	NOUN
fcis-30626	197	16	,	,	PUNCT
fcis-30626	197	17	where	where	SCONJ
fcis-30626	197	18	such	such	ADJ
fcis-30626	197	19	attacks	attack	NOUN
fcis-30626	197	20	can	can	AUX
fcis-30626	197	21	covertly	covertly	ADV
fcis-30626	197	22	manipulate	manipulate	VERB
fcis-30626	197	23	uav	uav	PROPN
fcis-30626	197	24	formations	formation	NOUN
fcis-30626	197	25	,	,	PUNCT
fcis-30626	197	26	compromising	compromise	VERB
fcis-30626	197	27	their	their	PRON
fcis-30626	197	28	operational	operational	ADJ
fcis-30626	197	29	integrity	integrity	NOUN
fcis-30626	197	30	.	.	PUNCT
fcis-30626	198	1	recent	recent	ADJ
fcis-30626	198	2	advances	advance	NOUN
fcis-30626	198	3	also	also	ADV
fcis-30626	198	4	include	include	VERB
fcis-30626	198	5	research	research	NOUN
fcis-30626	198	6	on	on	ADP
fcis-30626	198	7	high	high	ADJ
fcis-30626	198	8	-	-	PUNCT
fcis-30626	198	9	order	order	NOUN
fcis-30626	198	10	multi	multi	ADJ
fcis-30626	198	11	-	-	ADJ
fcis-30626	198	12	agent	agent	ADJ
fcis-30626	198	13	systems	system	NOUN
fcis-30626	198	14	under	under	ADP
fcis-30626	198	15	deception	deception	NOUN
fcis-30626	198	16	attacks	attack	NOUN
fcis-30626	198	17	,	,	PUNCT
fcis-30626	198	18	focusing	focus	VERB
fcis-30626	198	19	on	on	ADP
fcis-30626	198	20	vulnerabilities	vulnerability	NOUN
fcis-30626	198	21	in	in	ADP
fcis-30626	198	22	sensorto	sensorto	ADJ
fcis-30626	198	23	-	-	PUNCT
fcis-30626	198	24	controller	controller	NOUN
fcis-30626	198	25	communication	communication	NOUN
fcis-30626	198	26	channels	channel	NOUN
fcis-30626	198	27	.	.	PUNCT
fcis-30626	199	1	this	this	DET
fcis-30626	199	2	research	research	NOUN
fcis-30626	199	3	underscores	underscore	VERB
fcis-30626	199	4	the	the	DET
fcis-30626	199	5	importance	importance	NOUN
fcis-30626	199	6	of	of	ADP
fcis-30626	199	7	secure	secure	ADJ
fcis-30626	199	8	communication	communication	NOUN
fcis-30626	199	9	protocols	protocol	NOUN
fcis-30626	199	10	in	in	ADP
fcis-30626	199	11	preserving	preserve	VERB
fcis-30626	199	12	formation	formation	NOUN
fcis-30626	199	13	integrity	integrity	NOUN
fcis-30626	199	14	against	against	ADP
fcis-30626	199	15	spoofing	spoof	VERB
fcis-30626	199	16	threats	threat	NOUN
fcis-30626	199	17	.	.	PUNCT
fcis-30626	200	1	eavesdropping	eavesdropping	NOUN
fcis-30626	200	2	attacks	attack	NOUN
fcis-30626	200	3	involve	involve	VERB
fcis-30626	200	4	attackers	attacker	NOUN
fcis-30626	200	5	intercepting	intercept	VERB
fcis-30626	200	6	communication	communication	NOUN
fcis-30626	200	7	signals	signal	NOUN
fcis-30626	200	8	between	between	ADP
fcis-30626	200	9	uavs	uavs	NOUN
fcis-30626	200	10	to	to	PART
fcis-30626	200	11	obtain	obtain	VERB
fcis-30626	200	12	sensitive	sensitive	ADJ
fcis-30626	200	13	information	information	NOUN
fcis-30626	200	14	or	or	CCONJ
fcis-30626	200	15	disrupt	disrupt	VERB
fcis-30626	200	16	normal	normal	ADJ
fcis-30626	200	17	operations	operation	NOUN
fcis-30626	200	18	.	.	PUNCT
fcis-30626	201	1	the	the	DET
fcis-30626	201	2	primary	primary	ADJ
fcis-30626	201	3	objectives	objective	NOUN
fcis-30626	201	4	of	of	ADP
fcis-30626	201	5	such	such	ADJ
fcis-30626	201	6	attacks	attack	NOUN
fcis-30626	201	7	include	include	VERB
fcis-30626	201	8	information	information	NOUN
fcis-30626	201	9	theft	theft	NOUN
fcis-30626	201	10	and	and	CCONJ
fcis-30626	201	11	operational	operational	ADJ
fcis-30626	201	12	interference	interference	NOUN
fcis-30626	201	13	.	.	PUNCT
fcis-30626	202	1	information	information	NOUN
fcis-30626	202	2	theft	theft	NOUN
fcis-30626	202	3	involves	involve	VERB
fcis-30626	202	4	acquiring	acquire	VERB
fcis-30626	202	5	mission	mission	NOUN
fcis-30626	202	6	instructions	instruction	NOUN
fcis-30626	202	7	,	,	PUNCT
fcis-30626	202	8	positional	positional	ADJ
fcis-30626	202	9	data	datum	NOUN
fcis-30626	202	10	,	,	PUNCT
fcis-30626	202	11	and	and	CCONJ
fcis-30626	202	12	other	other	ADJ
fcis-30626	202	13	sensitive	sensitive	ADJ
fcis-30626	202	14	information	information	NOUN
fcis-30626	202	15	from	from	ADP
fcis-30626	202	16	uav	uav	PROPN
fcis-30626	202	17	formations	formation	NOUN
fcis-30626	202	18	.	.	PUNCT
fcis-30626	203	1	operational	operational	ADJ
fcis-30626	203	2	interference	interference	NOUN
fcis-30626	203	3	enables	enable	VERB
fcis-30626	203	4	attackers	attacker	NOUN
fcis-30626	203	5	to	to	PART
fcis-30626	203	6	manipulate	manipulate	VERB
fcis-30626	203	7	uav	uav	PROPN
fcis-30626	203	8	behavior	behavior	NOUN
fcis-30626	203	9	,	,	PUNCT
fcis-30626	203	10	such	such	ADJ
fcis-30626	203	11	as	as	ADP
fcis-30626	203	12	misleading	mislead	VERB
fcis-30626	203	13	navigation	navigation	NOUN
fcis-30626	203	14	or	or	CCONJ
fcis-30626	203	15	altering	alter	VERB
fcis-30626	203	16	flight	flight	NOUN
fcis-30626	203	17	paths	path	NOUN
fcis-30626	203	18	,	,	PUNCT
fcis-30626	203	19	by	by	ADP
fcis-30626	203	20	intercepting	intercept	VERB
fcis-30626	203	21	real	real	ADJ
fcis-30626	203	22	-	-	PUNCT
fcis-30626	203	23	time	time	NOUN
fcis-30626	203	24	data	datum	NOUN
fcis-30626	203	25	.	.	PUNCT
fcis-30626	204	1	study	study	NOUN
fcis-30626	204	2	[	[	PUNCT
fcis-30626	204	3	62	62	NUM
fcis-30626	204	4	]	]	PUNCT
fcis-30626	204	5	explored	explore	VERB
fcis-30626	204	6	efforts	effort	NOUN
fcis-30626	204	7	to	to	PART
fcis-30626	204	8	detect	detect	VERB
fcis-30626	204	9	and	and	CCONJ
fcis-30626	204	10	prevent	prevent	VERB
fcis-30626	204	11	eavesdropping	eavesdropping	NOUN
fcis-30626	204	12	attacks	attack	NOUN
fcis-30626	204	13	on	on	ADP
fcis-30626	204	14	uavs	uavs	PROPN
fcis-30626	204	15	.	.	PUNCT
fcis-30626	205	1	distributed	distribute	VERB
fcis-30626	205	2	bearingbased	bearingbase	VERB
fcis-30626	205	3	formation	formation	NOUN
fcis-30626	205	4	maneuver	maneuver	NOUN
fcis-30626	205	5	control	control	NOUN
fcis-30626	205	6	and	and	CCONJ
fcis-30626	205	7	eavesdropping	eavesdropping	NOUN
fcis-30626	205	8	attack	attack	NOUN
fcis-30626	205	9	detection	detection	NOUN
fcis-30626	205	10	have	have	AUX
fcis-30626	205	11	been	be	AUX
fcis-30626	205	12	investigated	investigate	VERB
fcis-30626	205	13	as	as	ADP
fcis-30626	205	14	potential	potential	ADJ
fcis-30626	205	15	solutions	solution	NOUN
fcis-30626	205	16	to	to	PART
fcis-30626	205	17	mitigate	mitigate	VERB
fcis-30626	205	18	risks	risk	NOUN
fcis-30626	205	19	posed	pose	VERB
fcis-30626	205	20	by	by	ADP
fcis-30626	205	21	malicious	malicious	ADJ
fcis-30626	205	22	actors	actor	NOUN
fcis-30626	205	23	.	.	PUNCT
fcis-30626	206	1	however	however	ADV
fcis-30626	206	2	,	,	PUNCT
fcis-30626	206	3	existing	exist	VERB
fcis-30626	206	4	research	research	NOUN
fcis-30626	206	5	has	have	VERB
fcis-30626	206	6	notable	notable	ADJ
fcis-30626	206	7	limitations	limitation	NOUN
fcis-30626	206	8	:	:	PUNCT
fcis-30626	206	9	(	(	PUNCT
fcis-30626	206	10	1	1	X
fcis-30626	206	11	)	)	PUNCT
fcis-30626	206	12	most	most	ADJ
fcis-30626	206	13	methods	method	NOUN
fcis-30626	206	14	are	be	AUX
fcis-30626	206	15	designed	design	VERB
fcis-30626	206	16	for	for	ADP
fcis-30626	206	17	single	single	ADJ
fcis-30626	206	18	uav	uav	PROPN
fcis-30626	206	19	systems	system	NOUN
fcis-30626	206	20	and	and	CCONJ
fcis-30626	206	21	do	do	AUX
fcis-30626	206	22	not	not	PART
fcis-30626	206	23	account	account	VERB
fcis-30626	206	24	for	for	ADP
fcis-30626	206	25	the	the	DET
fcis-30626	206	26	security	security	NOUN
fcis-30626	206	27	complexities	complexity	NOUN
fcis-30626	206	28	of	of	ADP
fcis-30626	206	29	formation	formation	NOUN
fcis-30626	206	30	scenarios	scenario	NOUN
fcis-30626	206	31	.	.	PUNCT
fcis-30626	207	1	(	(	PUNCT
fcis-30626	207	2	2	2	X
fcis-30626	207	3	)	)	PUNCT
fcis-30626	207	4	attack	attack	NOUN
fcis-30626	207	5	detection	detection	NOUN
fcis-30626	207	6	and	and	CCONJ
fcis-30626	207	7	defense	defense	NOUN
fcis-30626	207	8	are	be	AUX
fcis-30626	207	9	often	often	ADV
fcis-30626	207	10	studied	study	VERB
fcis-30626	207	11	as	as	ADP
fcis-30626	207	12	separate	separate	ADJ
fcis-30626	207	13	problems	problem	NOUN
fcis-30626	207	14	,	,	PUNCT
fcis-30626	207	15	lacking	lack	VERB
fcis-30626	207	16	integrated	integrated	ADJ
fcis-30626	207	17	solutions	solution	NOUN
fcis-30626	207	18	.	.	PUNCT
fcis-30626	208	1	(	(	PUNCT
fcis-30626	208	2	3	3	X
fcis-30626	208	3	)	)	PUNCT
fcis-30626	208	4	there	there	PRON
fcis-30626	208	5	is	be	VERB
fcis-30626	208	6	a	a	DET
fcis-30626	208	7	significant	significant	ADJ
fcis-30626	208	8	gap	gap	NOUN
fcis-30626	208	9	between	between	ADP
fcis-30626	208	10	theoretical	theoretical	ADJ
fcis-30626	208	11	research	research	NOUN
fcis-30626	208	12	and	and	CCONJ
fcis-30626	208	13	practical	practical	ADJ
fcis-30626	208	14	applications	application	NOUN
fcis-30626	208	15	,	,	PUNCT
fcis-30626	208	16	with	with	ADP
fcis-30626	208	17	many	many	ADJ
fcis-30626	208	18	algorithms	algorithm	NOUN
fcis-30626	208	19	proving	prove	VERB
fcis-30626	208	20	difficult	difficult	ADJ
fcis-30626	208	21	to	to	PART
fcis-30626	208	22	implement	implement	VERB
fcis-30626	208	23	on	on	ADP
fcis-30626	208	24	resource	resource	NOUN
fcis-30626	208	25	-	-	PUNCT
fcis-30626	208	26	constrained	constrain	VERB
fcis-30626	208	27	uav	uav	PROPN
fcis-30626	208	28	platforms	platform	NOUN
fcis-30626	208	29	.	.	PUNCT
fcis-30626	209	1	4	4	X
fcis-30626	209	2	.	.	X
fcis-30626	209	3	uav	uav	PROPN
fcis-30626	209	4	formation	formation	PROPN
fcis-30626	209	5	control	control	NOUN
fcis-30626	209	6	under	under	ADP
fcis-30626	209	7	deception	deception	NOUN
fcis-30626	209	8	attacks	attack	NOUN
fcis-30626	209	9	in	in	ADP
fcis-30626	209	10	communication	communication	NOUN
fcis-30626	209	11	in	in	ADP
fcis-30626	209	12	modern	modern	ADJ
fcis-30626	209	13	uav	uav	PROPN
fcis-30626	209	14	formation	formation	NOUN
fcis-30626	209	15	control	control	NOUN
fcis-30626	209	16	,	,	PUNCT
fcis-30626	209	17	the	the	DET
fcis-30626	209	18	impact	impact	NOUN
fcis-30626	209	19	of	of	ADP
fcis-30626	209	20	communication	communication	NOUN
fcis-30626	209	21	deception	deception	NOUN
fcis-30626	209	22	attacks	attack	NOUN
fcis-30626	209	23	is	be	AUX
fcis-30626	209	24	significant	significant	ADJ
fcis-30626	209	25	,	,	PUNCT
fcis-30626	209	26	necessitating	necessitate	VERB
fcis-30626	209	27	in	in	ADP
fcis-30626	209	28	-	-	PUNCT
fcis-30626	209	29	depth	depth	NOUN
fcis-30626	209	30	research	research	NOUN
fcis-30626	209	31	on	on	ADP
fcis-30626	209	32	defense	defense	NOUN
fcis-30626	209	33	mechanisms	mechanism	NOUN
fcis-30626	209	34	.	.	PUNCT
fcis-30626	210	1	to	to	PART
fcis-30626	210	2	effectively	effectively	ADV
fcis-30626	210	3	address	address	VERB
fcis-30626	210	4	this	this	DET
fcis-30626	210	5	challenge	challenge	NOUN
fcis-30626	210	6	,	,	PUNCT
fcis-30626	210	7	it	it	PRON
fcis-30626	210	8	is	be	AUX
fcis-30626	210	9	essential	essential	ADJ
fcis-30626	210	10	to	to	PART
fcis-30626	210	11	explore	explore	VERB
fcis-30626	210	12	the	the	DET
fcis-30626	210	13	comprehensive	comprehensive	ADJ
fcis-30626	210	14	application	application	NOUN
fcis-30626	210	15	of	of	ADP
fcis-30626	210	16	multiple	multiple	ADJ
fcis-30626	210	17	defense	defense	NOUN
fcis-30626	210	18	strategies	strategy	NOUN
fcis-30626	210	19	to	to	PART
fcis-30626	210	20	enhance	enhance	VERB
fcis-30626	210	21	the	the	DET
fcis-30626	210	22	anti	anti	ADJ
fcis-30626	210	23	-	-	ADJ
fcis-30626	210	24	jamming	jamming	ADJ
fcis-30626	210	25	capability	capability	NOUN
fcis-30626	210	26	and	and	CCONJ
fcis-30626	210	27	system	system	NOUN
fcis-30626	210	28	robustness	robustness	NOUN
fcis-30626	210	29	of	of	ADP
fcis-30626	210	30	uav	uav	PROPN
fcis-30626	210	31	formations	formation	NOUN
fcis-30626	210	32	.	.	PUNCT
fcis-30626	211	1	communication	communication	NOUN
fcis-30626	211	2	deception	deception	NOUN
fcis-30626	211	3	attacks	attack	NOUN
fcis-30626	211	4	refer	refer	VERB
fcis-30626	211	5	to	to	ADP
fcis-30626	211	6	malicious	malicious	ADJ
fcis-30626	211	7	acts	act	NOUN
fcis-30626	211	8	that	that	PRON
fcis-30626	211	9	disrupt	disrupt	VERB
fcis-30626	211	10	normal	normal	ADJ
fcis-30626	211	11	communication	communication	NOUN
fcis-30626	211	12	and	and	CCONJ
fcis-30626	211	13	cooperative	cooperative	ADJ
fcis-30626	211	14	operations	operation	NOUN
fcis-30626	211	15	of	of	ADP
fcis-30626	211	16	uav	uav	PROPN
fcis-30626	211	17	formations	formation	NOUN
fcis-30626	211	18	by	by	ADP
fcis-30626	211	19	forging	forge	VERB
fcis-30626	211	20	or	or	CCONJ
fcis-30626	211	21	tampering	tamper	VERB
fcis-30626	211	22	with	with	ADP
fcis-30626	211	23	transmitted	transmit	VERB
fcis-30626	211	24	information	information	NOUN
fcis-30626	211	25	,	,	PUNCT
fcis-30626	211	26	leading	lead	VERB
fcis-30626	211	27	to	to	ADP
fcis-30626	211	28	system	system	NOUN
fcis-30626	211	29	decision	decision	NOUN
fcis-30626	211	30	-	-	PUNCT
fcis-30626	211	31	making	make	VERB
fcis-30626	211	32	errors	error	NOUN
fcis-30626	211	33	or	or	CCONJ
fcis-30626	211	34	mission	mission	NOUN
fcis-30626	211	35	failures	failure	NOUN
fcis-30626	211	36	.	.	PUNCT
fcis-30626	212	1	such	such	ADJ
fcis-30626	212	2	attacks	attack	NOUN
fcis-30626	212	3	not	not	PART
fcis-30626	212	4	only	only	ADV
fcis-30626	212	5	threaten	threaten	VERB
fcis-30626	212	6	the	the	DET
fcis-30626	212	7	security	security	NOUN
fcis-30626	212	8	of	of	ADP
fcis-30626	212	9	uav	uav	PROPN
fcis-30626	212	10	formations	formation	NOUN
fcis-30626	212	11	but	but	CCONJ
fcis-30626	212	12	may	may	AUX
fcis-30626	212	13	also	also	ADV
fcis-30626	212	14	severely	severely	ADV
fcis-30626	212	15	impact	impact	VERB
fcis-30626	212	16	critical	critical	ADJ
fcis-30626	212	17	infrastructure	infrastructure	NOUN
fcis-30626	212	18	.	.	PUNCT
fcis-30626	213	1	therefore	therefore	ADV
fcis-30626	213	2	,	,	PUNCT
fcis-30626	213	3	studying	study	VERB
fcis-30626	213	4	defense	defense	NOUN
fcis-30626	213	5	mechanisms	mechanism	NOUN
fcis-30626	213	6	holds	hold	VERB
fcis-30626	213	7	substantial	substantial	ADJ
fcis-30626	213	8	practical	practical	ADJ
fcis-30626	213	9	significance	significance	NOUN
fcis-30626	213	10	.	.	PUNCT
fcis-30626	214	1	existing	exist	VERB
fcis-30626	214	2	research	research	NOUN
fcis-30626	214	3	has	have	AUX
fcis-30626	214	4	proposed	propose	VERB
fcis-30626	214	5	various	various	ADJ
fcis-30626	214	6	methods	method	NOUN
fcis-30626	214	7	to	to	PART
fcis-30626	214	8	enhance	enhance	VERB
fcis-30626	214	9	formation	formation	NOUN
fcis-30626	214	10	control	control	NOUN
fcis-30626	214	11	in	in	ADP
fcis-30626	214	12	response	response	NOUN
fcis-30626	214	13	to	to	ADP
fcis-30626	214	14	vulnerabilities	vulnerability	NOUN
fcis-30626	214	15	caused	cause	VERB
fcis-30626	214	16	by	by	ADP
fcis-30626	214	17	cyberattacks	cyberattack	NOUN
fcis-30626	214	18	.	.	PUNCT
fcis-30626	215	1	reference	reference	NOUN
fcis-30626	215	2	[	[	X
fcis-30626	215	3	63	63	NUM
fcis-30626	215	4	]	]	PUNCT
fcis-30626	215	5	focuses	focus	VERB
fcis-30626	215	6	on	on	ADP
fcis-30626	215	7	the	the	DET
fcis-30626	215	8	role	role	NOUN
fcis-30626	215	9	of	of	ADP
fcis-30626	215	10	uavs	uavs	NOUN
fcis-30626	215	11	as	as	SCONJ
fcis-30626	215	12	communication	communication	NOUN
fcis-30626	215	13	relays	relay	NOUN
fcis-30626	215	14	to	to	PART
fcis-30626	215	15	optimize	optimize	VERB
fcis-30626	215	16	air	air	NOUN
fcis-30626	215	17	-	-	PUNCT
fcis-30626	215	18	to	to	ADP
fcis-30626	215	19	-	-	PUNCT
fcis-30626	215	20	ground	ground	NOUN
fcis-30626	215	21	uplinks	uplink	NOUN
fcis-30626	215	22	.	.	PUNCT
fcis-30626	216	1	its	its	PRON
fcis-30626	216	2	162	162	NUM
fcis-30626	216	3	framework	framework	NOUN
fcis-30626	216	4	combines	combine	VERB
fcis-30626	216	5	least	least	ADJ
fcis-30626	216	6	-	-	PUNCT
fcis-30626	216	7	squares	square	NOUN
fcis-30626	216	8	estimation	estimation	NOUN
fcis-30626	216	9	for	for	ADP
fcis-30626	216	10	channel	channel	NOUN
fcis-30626	216	11	approximation	approximation	NOUN
fcis-30626	216	12	and	and	CCONJ
fcis-30626	216	13	employs	employ	VERB
fcis-30626	216	14	a	a	DET
fcis-30626	216	15	gradient	gradient	NOUN
fcis-30626	216	16	-	-	PUNCT
fcis-30626	216	17	based	base	VERB
fcis-30626	216	18	relay	relay	NOUN
fcis-30626	216	19	position	position	NOUN
fcis-30626	216	20	optimization	optimization	NOUN
fcis-30626	216	21	method	method	NOUN
fcis-30626	216	22	,	,	PUNCT
fcis-30626	216	23	which	which	PRON
fcis-30626	216	24	is	be	AUX
fcis-30626	216	25	crucial	crucial	ADJ
fcis-30626	216	26	for	for	ADP
fcis-30626	216	27	maintaining	maintain	VERB
fcis-30626	216	28	effective	effective	ADJ
fcis-30626	216	29	communication	communication	NOUN
fcis-30626	216	30	under	under	ADP
fcis-30626	216	31	potential	potential	ADJ
fcis-30626	216	32	network	network	NOUN
fcis-30626	216	33	interference	interference	NOUN
fcis-30626	216	34	.	.	PUNCT
fcis-30626	217	1	this	this	DET
fcis-30626	217	2	foundational	foundational	ADJ
fcis-30626	217	3	study	study	NOUN
fcis-30626	217	4	provides	provide	VERB
fcis-30626	217	5	a	a	DET
fcis-30626	217	6	basis	basis	NOUN
fcis-30626	217	7	for	for	ADP
fcis-30626	217	8	understanding	understand	VERB
fcis-30626	217	9	how	how	SCONJ
fcis-30626	217	10	uavs	uavs	NOUN
fcis-30626	217	11	mitigate	mitigate	VERB
fcis-30626	217	12	communication	communication	NOUN
fcis-30626	217	13	challenges	challenge	NOUN
fcis-30626	217	14	.	.	PUNCT
fcis-30626	218	1	zhang	zhang	PROPN
fcis-30626	218	2	et	et	PROPN
fcis-30626	218	3	al	al	PROPN
fcis-30626	218	4	.	.	PUNCT
fcis-30626	219	1	[	[	X
fcis-30626	219	2	64	64	NUM
fcis-30626	219	3	]	]	PUNCT
fcis-30626	219	4	further	far	ADV
fcis-30626	219	5	advance	advance	VERB
fcis-30626	219	6	the	the	DET
fcis-30626	219	7	field	field	NOUN
fcis-30626	219	8	by	by	ADP
fcis-30626	219	9	proposing	propose	VERB
fcis-30626	219	10	a	a	DET
fcis-30626	219	11	power	power	NOUN
fcis-30626	219	12	control	control	NOUN
fcis-30626	219	13	and	and	CCONJ
fcis-30626	219	14	clustering	clustering	NOUN
fcis-30626	219	15	-	-	PUNCT
fcis-30626	219	16	based	base	VERB
fcis-30626	219	17	interference	interference	NOUN
fcis-30626	219	18	management	management	NOUN
fcis-30626	219	19	framework	framework	NOUN
fcis-30626	219	20	for	for	ADP
fcis-30626	219	21	uav	uav	PROPN
fcis-30626	219	22	-	-	PUNCT
fcis-30626	219	23	assisted	assist	VERB
fcis-30626	219	24	networks	network	NOUN
fcis-30626	219	25	.	.	PUNCT
fcis-30626	220	1	their	their	PRON
fcis-30626	220	2	established	establish	VERB
fcis-30626	220	3	non	non	ADJ
fcis-30626	220	4	-	-	ADJ
fcis-30626	220	5	cooperative	cooperative	ADJ
fcis-30626	220	6	game	game	NOUN
fcis-30626	220	7	model	model	NOUN
fcis-30626	220	8	achieves	achieve	VERB
fcis-30626	220	9	nash	nash	PROPN
fcis-30626	220	10	equilibrium	equilibrium	PROPN
fcis-30626	220	11	,	,	PUNCT
fcis-30626	220	12	which	which	PRON
fcis-30626	220	13	is	be	AUX
fcis-30626	220	14	critical	critical	ADJ
fcis-30626	220	15	for	for	ADP
fcis-30626	220	16	ensuring	ensure	VERB
fcis-30626	220	17	stable	stable	ADJ
fcis-30626	220	18	communication	communication	NOUN
fcis-30626	220	19	when	when	SCONJ
fcis-30626	220	20	cyberattacks	cyberattack	NOUN
fcis-30626	220	21	may	may	AUX
fcis-30626	220	22	disrupt	disrupt	VERB
fcis-30626	220	23	normal	normal	ADJ
fcis-30626	220	24	operations	operation	NOUN
fcis-30626	220	25	.	.	PUNCT
fcis-30626	221	1	huo	huo	NOUN
fcis-30626	221	2	et	et	NOUN
fcis-30626	221	3	al	al	PROPN
fcis-30626	221	4	.	.	PUNCT
fcis-30626	222	1	[	[	X
fcis-30626	222	2	65	65	NUM
fcis-30626	222	3	]	]	PUNCT
fcis-30626	222	4	innovatively	innovatively	ADV
fcis-30626	222	5	propose	propose	VERB
fcis-30626	222	6	a	a	DET
fcis-30626	222	7	pigeoninspired	pigeoninspired	ADJ
fcis-30626	222	8	circular	circular	ADJ
fcis-30626	222	9	formation	formation	NOUN
fcis-30626	222	10	control	control	NOUN
fcis-30626	222	11	method	method	NOUN
fcis-30626	222	12	,	,	PUNCT
fcis-30626	222	13	leveraging	leverage	VERB
fcis-30626	222	14	intelligent	intelligent	ADJ
fcis-30626	222	15	behavior	behavior	NOUN
fcis-30626	222	16	to	to	PART
fcis-30626	222	17	maintain	maintain	VERB
fcis-30626	222	18	formations	formation	NOUN
fcis-30626	222	19	under	under	ADP
fcis-30626	222	20	limited	limited	ADJ
fcis-30626	222	21	target	target	NOUN
fcis-30626	222	22	information	information	NOUN
fcis-30626	222	23	.	.	PUNCT
fcis-30626	223	1	this	this	DET
fcis-30626	223	2	approach	approach	NOUN
fcis-30626	223	3	is	be	AUX
fcis-30626	223	4	particularly	particularly	ADV
fcis-30626	223	5	suitable	suitable	ADJ
fcis-30626	223	6	for	for	ADP
fcis-30626	223	7	cyberattack	cyberattack	NOUN
fcis-30626	223	8	scenarios	scenario	NOUN
fcis-30626	223	9	due	due	ADP
fcis-30626	223	10	to	to	ADP
fcis-30626	223	11	its	its	PRON
fcis-30626	223	12	emphasis	emphasis	NOUN
fcis-30626	223	13	on	on	ADP
fcis-30626	223	14	adaptive	adaptive	ADJ
fcis-30626	223	15	control	control	NOUN
fcis-30626	223	16	strategies	strategy	NOUN
fcis-30626	223	17	in	in	ADP
fcis-30626	223	18	response	response	NOUN
fcis-30626	223	19	to	to	ADP
fcis-30626	223	20	changing	change	VERB
fcis-30626	223	21	communication	communication	NOUN
fcis-30626	223	22	environments	environment	NOUN
fcis-30626	223	23	.	.	PUNCT
fcis-30626	224	1	yang	yang	PROPN
fcis-30626	224	2	et	et	PROPN
fcis-30626	224	3	al	al	PROPN
fcis-30626	224	4	.	.	PUNCT
fcis-30626	225	1	[	[	X
fcis-30626	225	2	66	66	NUM
fcis-30626	225	3	]	]	PUNCT
fcis-30626	225	4	specifically	specifically	ADV
fcis-30626	225	5	investigate	investigate	VERB
fcis-30626	225	6	the	the	DET
fcis-30626	225	7	security	security	NOUN
fcis-30626	225	8	of	of	ADP
fcis-30626	225	9	age	age	NOUN
fcis-30626	225	10	of	of	ADP
fcis-30626	225	11	information	information	NOUN
fcis-30626	225	12	(	(	PUNCT
fcis-30626	225	13	aoi	aoi	NOUN
fcis-30626	225	14	)	)	PUNCT
fcis-30626	225	15	optimization	optimization	NOUN
fcis-30626	225	16	in	in	ADP
fcis-30626	225	17	uavassisted	uavassisted	ADJ
fcis-30626	225	18	networks	network	NOUN
fcis-30626	225	19	under	under	ADP
fcis-30626	225	20	channel	channel	NOUN
fcis-30626	225	21	access	access	NOUN
fcis-30626	225	22	attacks	attack	NOUN
fcis-30626	225	23	(	(	PUNCT
fcis-30626	225	24	caa	caa	NOUN
fcis-30626	225	25	)	)	PUNCT
fcis-30626	225	26	.	.	PUNCT
fcis-30626	226	1	through	through	ADP
fcis-30626	226	2	game	game	NOUN
fcis-30626	226	3	-	-	PUNCT
fcis-30626	226	4	theoretic	theoretic	NOUN
fcis-30626	226	5	analysis	analysis	NOUN
fcis-30626	226	6	of	of	ADP
fcis-30626	226	7	caa	caa	NOUN
fcis-30626	226	8	's	's	PART
fcis-30626	226	9	impact	impact	NOUN
fcis-30626	226	10	on	on	ADP
fcis-30626	226	11	network	network	NOUN
fcis-30626	226	12	performance	performance	NOUN
fcis-30626	226	13	,	,	PUNCT
fcis-30626	226	14	they	they	PRON
fcis-30626	226	15	propose	propose	VERB
fcis-30626	226	16	strategies	strategy	NOUN
fcis-30626	226	17	to	to	PART
fcis-30626	226	18	minimize	minimize	VERB
fcis-30626	226	19	aoi	aoi	NOUN
fcis-30626	226	20	,	,	PUNCT
fcis-30626	226	21	highlighting	highlight	VERB
fcis-30626	226	22	the	the	DET
fcis-30626	226	23	necessity	necessity	NOUN
fcis-30626	226	24	of	of	ADP
fcis-30626	226	25	constructing	construct	VERB
fcis-30626	226	26	attackresistant	attackresistant	ADJ
fcis-30626	226	27	robust	robust	ADJ
fcis-30626	226	28	formation	formation	NOUN
fcis-30626	226	29	control	control	NOUN
fcis-30626	226	30	mechanisms	mechanism	NOUN
fcis-30626	226	31	.	.	PUNCT
fcis-30626	227	1	suo	suo	PROPN
fcis-30626	227	2	et	et	PROPN
fcis-30626	227	3	al	al	PROPN
fcis-30626	227	4	.	.	PUNCT
fcis-30626	228	1	[	[	X
fcis-30626	228	2	67	67	NUM
fcis-30626	228	3	]	]	PUNCT
fcis-30626	228	4	focus	focus	NOUN
fcis-30626	228	5	on	on	ADP
fcis-30626	228	6	formation	formation	NOUN
fcis-30626	228	7	control	control	NOUN
fcis-30626	228	8	for	for	ADP
fcis-30626	228	9	fixed	fix	VERB
fcis-30626	228	10	-	-	PUNCT
fcis-30626	228	11	wing	wing	NOUN
fcis-30626	228	12	uav	uav	PROPN
fcis-30626	228	13	swarms	swarm	NOUN
fcis-30626	228	14	in	in	ADP
fcis-30626	228	15	distributed	distribute	VERB
fcis-30626	228	16	ad	ad	NOUN
fcis-30626	228	17	-	-	PUNCT
fcis-30626	228	18	hoc	hoc	X
fcis-30626	228	19	networks	network	NOUN
fcis-30626	228	20	.	.	PUNCT
fcis-30626	229	1	their	their	PRON
fcis-30626	229	2	proposed	propose	VERB
fcis-30626	229	3	route	route	NOUN
fcis-30626	229	4	-	-	PUNCT
fcis-30626	229	5	based	base	VERB
fcis-30626	229	6	formation	formation	NOUN
fcis-30626	229	7	switching	switch	VERB
fcis-30626	229	8	and	and	CCONJ
fcis-30626	229	9	obstacle	obstacle	NOUN
fcis-30626	229	10	avoidance	avoidance	NOUN
fcis-30626	229	11	method	method	NOUN
fcis-30626	229	12	is	be	AUX
fcis-30626	229	13	of	of	ADP
fcis-30626	229	14	significant	significant	ADJ
fcis-30626	229	15	value	value	NOUN
fcis-30626	229	16	in	in	ADP
fcis-30626	229	17	countering	counter	VERB
fcis-30626	229	18	potential	potential	ADJ
fcis-30626	229	19	interference	interference	NOUN
fcis-30626	229	20	from	from	ADP
fcis-30626	229	21	cyberattacks	cyberattack	NOUN
fcis-30626	229	22	and	and	CCONJ
fcis-30626	229	23	maintaining	maintain	VERB
fcis-30626	229	24	formation	formation	NOUN
fcis-30626	229	25	integrity	integrity	NOUN
fcis-30626	229	26	.	.	PUNCT
fcis-30626	230	1	fei	fei	PROPN
fcis-30626	230	2	et	et	PROPN
fcis-30626	230	3	al	al	PROPN
fcis-30626	230	4	.	.	PUNCT
fcis-30626	231	1	[	[	X
fcis-30626	231	2	68	68	NUM
fcis-30626	231	3	]	]	PUNCT
fcis-30626	231	4	explore	explore	VERB
fcis-30626	231	5	a	a	DET
fcis-30626	231	6	cooperative	cooperative	ADJ
fcis-30626	231	7	search	search	NOUN
fcis-30626	231	8	model	model	NOUN
fcis-30626	231	9	for	for	ADP
fcis-30626	231	10	multi	multi	ADJ
fcis-30626	231	11	-	-	ADJ
fcis-30626	231	12	uav	uav	ADJ
fcis-30626	231	13	systems	system	NOUN
fcis-30626	231	14	under	under	ADP
fcis-30626	231	15	limited	limited	ADJ
fcis-30626	231	16	communication	communication	NOUN
fcis-30626	231	17	networks	network	NOUN
fcis-30626	231	18	.	.	PUNCT
fcis-30626	232	1	this	this	DET
fcis-30626	232	2	study	study	NOUN
fcis-30626	232	3	emphasizes	emphasize	VERB
fcis-30626	232	4	enhancing	enhance	VERB
fcis-30626	232	5	collaborative	collaborative	ADJ
fcis-30626	232	6	capabilities	capability	NOUN
fcis-30626	232	7	through	through	ADP
fcis-30626	232	8	flight	flight	NOUN
fcis-30626	232	9	strategy	strategy	NOUN
fcis-30626	232	10	design	design	NOUN
fcis-30626	232	11	,	,	PUNCT
fcis-30626	232	12	which	which	PRON
fcis-30626	232	13	is	be	AUX
fcis-30626	232	14	particularly	particularly	ADV
fcis-30626	232	15	critical	critical	ADJ
fcis-30626	232	16	when	when	SCONJ
fcis-30626	232	17	communication	communication	NOUN
fcis-30626	232	18	channels	channel	NOUN
fcis-30626	232	19	are	be	AUX
fcis-30626	232	20	compromised	compromise	VERB
fcis-30626	232	21	.	.	PUNCT
fcis-30626	233	1	finally	finally	ADV
fcis-30626	233	2	,	,	PUNCT
fcis-30626	233	3	han	han	PROPN
fcis-30626	233	4	et	et	PROPN
fcis-30626	233	5	al	al	PROPN
fcis-30626	233	6	.	.	PUNCT
fcis-30626	234	1	[	[	X
fcis-30626	234	2	69	69	NUM
fcis-30626	234	3	]	]	X
fcis-30626	234	4	propose	propose	VERB
fcis-30626	234	5	an	an	DET
fcis-30626	234	6	intelligent	intelligent	ADJ
fcis-30626	234	7	optimization	optimization	NOUN
fcis-30626	234	8	scheme	scheme	NOUN
fcis-30626	234	9	for	for	ADP
fcis-30626	234	10	defending	defend	VERB
fcis-30626	234	11	against	against	ADP
fcis-30626	234	12	channel	channel	NOUN
fcis-30626	234	13	access	access	NOUN
fcis-30626	234	14	attacks	attack	NOUN
fcis-30626	234	15	in	in	ADP
fcis-30626	234	16	uav	uav	PROPN
fcis-30626	234	17	-	-	PUNCT
fcis-30626	234	18	assisted	assist	VERB
fcis-30626	234	19	heterogeneous	heterogeneous	ADJ
fcis-30626	234	20	networks	network	NOUN
fcis-30626	234	21	.	.	PUNCT
fcis-30626	235	1	simulation	simulation	NOUN
fcis-30626	235	2	results	result	NOUN
fcis-30626	235	3	demonstrate	demonstrate	VERB
fcis-30626	235	4	improvements	improvement	NOUN
fcis-30626	235	5	in	in	ADP
fcis-30626	235	6	aoi	aoi	PROPN
fcis-30626	235	7	,	,	PUNCT
fcis-30626	235	8	throughput	throughput	NOUN
fcis-30626	235	9	,	,	PUNCT
fcis-30626	235	10	and	and	CCONJ
fcis-30626	235	11	latency	latency	NOUN
fcis-30626	235	12	,	,	PUNCT
fcis-30626	235	13	underscoring	underscore	VERB
fcis-30626	235	14	the	the	DET
fcis-30626	235	15	importance	importance	NOUN
fcis-30626	235	16	of	of	ADP
fcis-30626	235	17	developing	develop	VERB
fcis-30626	235	18	anti	anti	ADJ
fcis-30626	235	19	-	-	ADJ
fcis-30626	235	20	fragile	fragile	ADJ
fcis-30626	235	21	communication	communication	NOUN
fcis-30626	235	22	strategies	strategy	NOUN
fcis-30626	235	23	.	.	PUNCT
fcis-30626	236	1	5	5	X
fcis-30626	236	2	.	.	X
fcis-30626	236	3	conclusion	conclusion	NOUN
fcis-30626	236	4	this	this	DET
fcis-30626	236	5	paper	paper	NOUN
fcis-30626	236	6	systematically	systematically	ADV
fcis-30626	236	7	reviews	review	VERB
fcis-30626	236	8	the	the	DET
fcis-30626	236	9	research	research	NOUN
fcis-30626	236	10	status	status	NOUN
fcis-30626	236	11	and	and	CCONJ
fcis-30626	236	12	development	development	NOUN
fcis-30626	236	13	trends	trend	NOUN
fcis-30626	236	14	of	of	ADP
fcis-30626	236	15	uav	uav	PROPN
fcis-30626	236	16	formation	formation	NOUN
fcis-30626	236	17	control	control	NOUN
fcis-30626	236	18	under	under	ADP
fcis-30626	236	19	deception	deception	NOUN
fcis-30626	236	20	attacks	attack	NOUN
fcis-30626	236	21	.	.	PUNCT
fcis-30626	237	1	with	with	ADP
fcis-30626	237	2	the	the	DET
fcis-30626	237	3	rapid	rapid	ADJ
fcis-30626	237	4	advancement	advancement	NOUN
fcis-30626	237	5	of	of	ADP
fcis-30626	237	6	emerging	emerge	VERB
fcis-30626	237	7	technologies	technology	NOUN
fcis-30626	237	8	such	such	ADJ
fcis-30626	237	9	as	as	ADP
fcis-30626	237	10	artificial	artificial	ADJ
fcis-30626	237	11	intelligence	intelligence	NOUN
fcis-30626	237	12	,	,	PUNCT
fcis-30626	237	13	edge	edge	NOUN
fcis-30626	237	14	computing	computing	NOUN
fcis-30626	237	15	,	,	PUNCT
fcis-30626	237	16	and	and	CCONJ
fcis-30626	237	17	blockchain	blockchain	PROPN
fcis-30626	237	18	,	,	PUNCT
fcis-30626	237	19	this	this	DET
fcis-30626	237	20	field	field	NOUN
fcis-30626	237	21	is	be	AUX
fcis-30626	237	22	facing	face	VERB
fcis-30626	237	23	unprecedented	unprecedented	ADJ
fcis-30626	237	24	opportunities	opportunity	NOUN
fcis-30626	237	25	and	and	CCONJ
fcis-30626	237	26	challenges	challenge	NOUN
fcis-30626	237	27	.	.	PUNCT
fcis-30626	238	1	5.1	5.1	NUM
fcis-30626	238	2	.	.	PUNCT
fcis-30626	239	1	research	research	NOUN
fcis-30626	239	2	challenges	challenge	VERB
fcis-30626	239	3	the	the	DET
fcis-30626	239	4	core	core	NOUN
fcis-30626	239	5	challenges	challenge	NOUN
fcis-30626	239	6	in	in	ADP
fcis-30626	239	7	current	current	ADJ
fcis-30626	239	8	research	research	NOUN
fcis-30626	239	9	are	be	AUX
fcis-30626	239	10	mainly	mainly	ADV
fcis-30626	239	11	reflected	reflect	VERB
fcis-30626	239	12	in	in	ADP
fcis-30626	239	13	four	four	NUM
fcis-30626	239	14	aspects	aspect	NOUN
fcis-30626	239	15	:	:	PUNCT
fcis-30626	239	16	first	first	ADV
fcis-30626	239	17	,	,	PUNCT
fcis-30626	239	18	the	the	DET
fcis-30626	239	19	issue	issue	NOUN
fcis-30626	239	20	of	of	ADP
fcis-30626	239	21	attack	attack	NOUN
fcis-30626	239	22	isolation	isolation	NOUN
fcis-30626	239	23	in	in	ADP
fcis-30626	239	24	multiuav	multiuav	PROPN
fcis-30626	239	25	cooperative	cooperative	ADJ
fcis-30626	239	26	environments	environment	NOUN
fcis-30626	239	27	,	,	PUNCT
fcis-30626	239	28	which	which	PRON
fcis-30626	239	29	requires	require	VERB
fcis-30626	239	30	precise	precise	ADJ
fcis-30626	239	31	attack	attack	NOUN
fcis-30626	239	32	detection	detection	NOUN
fcis-30626	239	33	and	and	CCONJ
fcis-30626	239	34	isolation	isolation	NOUN
fcis-30626	239	35	while	while	SCONJ
fcis-30626	239	36	ensuring	ensure	VERB
fcis-30626	239	37	formation	formation	NOUN
fcis-30626	239	38	performance	performance	NOUN
fcis-30626	239	39	.	.	PUNCT
fcis-30626	240	1	second	second	ADJ
fcis-30626	240	2	,	,	PUNCT
fcis-30626	240	3	the	the	DET
fcis-30626	240	4	trade	trade	NOUN
fcis-30626	240	5	-	-	PUNCT
fcis-30626	240	6	off	off	NOUN
fcis-30626	240	7	between	between	ADP
fcis-30626	240	8	real	real	ADJ
fcis-30626	240	9	-	-	PUNCT
fcis-30626	240	10	time	time	NOUN
fcis-30626	240	11	performance	performance	NOUN
fcis-30626	240	12	and	and	CCONJ
fcis-30626	240	13	security	security	NOUN
fcis-30626	240	14	,	,	PUNCT
fcis-30626	240	15	particularly	particularly	ADV
fcis-30626	240	16	in	in	ADP
fcis-30626	240	17	achieving	achieve	VERB
fcis-30626	240	18	efficient	efficient	ADJ
fcis-30626	240	19	and	and	CCONJ
fcis-30626	240	20	secure	secure	ADJ
fcis-30626	240	21	defense	defense	NOUN
fcis-30626	240	22	under	under	ADP
fcis-30626	240	23	resource	resource	NOUN
fcis-30626	240	24	-	-	PUNCT
fcis-30626	240	25	constrained	constrain	VERB
fcis-30626	240	26	conditions	condition	NOUN
fcis-30626	240	27	.	.	PUNCT
fcis-30626	241	1	third	third	ADJ
fcis-30626	241	2	,	,	PUNCT
fcis-30626	241	3	the	the	DET
fcis-30626	241	4	problem	problem	NOUN
fcis-30626	241	5	of	of	ADP
fcis-30626	241	6	defending	defend	VERB
fcis-30626	241	7	against	against	ADP
fcis-30626	241	8	intelligent	intelligent	ADJ
fcis-30626	241	9	dynamic	dynamic	ADJ
fcis-30626	241	10	attacks	attack	NOUN
fcis-30626	241	11	,	,	PUNCT
fcis-30626	241	12	which	which	PRON
fcis-30626	241	13	necessitates	necessitate	VERB
fcis-30626	241	14	countering	counter	VERB
fcis-30626	241	15	novel	novel	ADJ
fcis-30626	241	16	attack	attack	NOUN
fcis-30626	241	17	methods	method	NOUN
fcis-30626	241	18	with	with	ADP
fcis-30626	241	19	adaptive	adaptive	ADJ
fcis-30626	241	20	capabilities	capability	NOUN
fcis-30626	241	21	.	.	PUNCT
fcis-30626	242	1	finally	finally	ADV
fcis-30626	242	2	,	,	PUNCT
fcis-30626	242	3	the	the	DET
fcis-30626	242	4	challenge	challenge	NOUN
fcis-30626	242	5	of	of	ADP
fcis-30626	242	6	heterogeneous	heterogeneous	ADJ
fcis-30626	242	7	system	system	NOUN
fcis-30626	242	8	coordination	coordination	NOUN
fcis-30626	242	9	,	,	PUNCT
fcis-30626	242	10	which	which	PRON
fcis-30626	242	11	involves	involve	VERB
fcis-30626	242	12	ensuring	ensure	VERB
fcis-30626	242	13	secure	secure	ADJ
fcis-30626	242	14	collaboration	collaboration	NOUN
fcis-30626	242	15	among	among	ADP
fcis-30626	242	16	nodes	node	NOUN
fcis-30626	242	17	with	with	ADP
fcis-30626	242	18	varying	vary	VERB
fcis-30626	242	19	computational	computational	ADJ
fcis-30626	242	20	capabilities	capability	NOUN
fcis-30626	242	21	.	.	PUNCT
fcis-30626	243	1	5.2	5.2	NUM
fcis-30626	243	2	.	.	PUNCT
fcis-30626	243	3	cutting	cut	VERB
fcis-30626	243	4	-	-	PUNCT
fcis-30626	243	5	edge	edge	NOUN
fcis-30626	243	6	research	research	NOUN
fcis-30626	243	7	directions	direction	NOUN
fcis-30626	243	8	and	and	CCONJ
fcis-30626	243	9	future	future	ADJ
fcis-30626	243	10	prospects	prospect	NOUN
fcis-30626	243	11	future	future	ADJ
fcis-30626	243	12	research	research	NOUN
fcis-30626	243	13	should	should	AUX
fcis-30626	243	14	focus	focus	VERB
fcis-30626	243	15	on	on	ADP
fcis-30626	243	16	three	three	NUM
fcis-30626	243	17	key	key	ADJ
fcis-30626	243	18	directions	direction	NOUN
fcis-30626	243	19	:	:	PUNCT
fcis-30626	243	20	intelligent	intelligent	ADJ
fcis-30626	243	21	security	security	NOUN
fcis-30626	243	22	defense	defense	NOUN
fcis-30626	243	23	,	,	PUNCT
fcis-30626	243	24	adaptive	adaptive	ADJ
fcis-30626	243	25	control	control	NOUN
fcis-30626	243	26	architectures	architecture	NOUN
fcis-30626	243	27	,	,	PUNCT
fcis-30626	243	28	and	and	CCONJ
fcis-30626	243	29	system	system	NOUN
fcis-30626	243	30	-	-	PUNCT
fcis-30626	243	31	level	level	NOUN
fcis-30626	243	32	security	security	NOUN
fcis-30626	243	33	.	.	PUNCT
fcis-30626	244	1	in	in	ADP
fcis-30626	244	2	intelligent	intelligent	ADJ
fcis-30626	244	3	security	security	NOUN
fcis-30626	244	4	defense	defense	NOUN
fcis-30626	244	5	,	,	PUNCT
fcis-30626	244	6	deep	deep	ADJ
fcis-30626	244	7	reinforcement	reinforcement	NOUN
fcis-30626	244	8	learning	learning	NOUN
fcis-30626	244	9	-	-	PUNCT
fcis-30626	244	10	based	base	VERB
fcis-30626	244	11	end	end	NOUN
fcis-30626	244	12	-	-	PUNCT
fcis-30626	244	13	to	to	ADP
fcis-30626	244	14	-	-	PUNCT
fcis-30626	244	15	end	end	NOUN
fcis-30626	244	16	secure	secure	ADJ
fcis-30626	244	17	control	control	NOUN
fcis-30626	244	18	frameworks	framework	NOUN
fcis-30626	244	19	,	,	PUNCT
fcis-30626	244	20	blockchain	blockchain	PROPN
fcis-30626	244	21	-	-	PUNCT
fcis-30626	244	22	enabled	enable	VERB
fcis-30626	244	23	decentralized	decentralize	VERB
fcis-30626	244	24	secure	secure	ADJ
fcis-30626	244	25	communication	communication	NOUN
fcis-30626	244	26	mechanisms	mechanism	NOUN
fcis-30626	244	27	,	,	PUNCT
fcis-30626	244	28	and	and	CCONJ
fcis-30626	244	29	edge	edge	NOUN
fcis-30626	244	30	computing	computing	NOUN
fcis-30626	244	31	-	-	PUNCT
fcis-30626	244	32	driven	drive	VERB
fcis-30626	244	33	distributed	distribute	VERB
fcis-30626	244	34	secure	secure	ADJ
fcis-30626	244	35	computing	compute	VERB
fcis-30626	244	36	architectures	architecture	NOUN
fcis-30626	244	37	will	will	AUX
fcis-30626	244	38	become	become	VERB
fcis-30626	244	39	important	important	ADJ
fcis-30626	244	40	research	research	NOUN
fcis-30626	244	41	areas	area	NOUN
fcis-30626	244	42	.	.	PUNCT
fcis-30626	245	1	in	in	ADP
fcis-30626	245	2	adaptive	adaptive	ADJ
fcis-30626	245	3	control	control	NOUN
fcis-30626	245	4	architectures	architecture	NOUN
fcis-30626	245	5	,	,	PUNCT
fcis-30626	245	6	the	the	DET
fcis-30626	245	7	integration	integration	NOUN
fcis-30626	245	8	of	of	ADP
fcis-30626	245	9	hybrid	hybrid	NOUN
fcis-30626	245	10	architectures	architecture	NOUN
fcis-30626	245	11	,	,	PUNCT
fcis-30626	245	12	the	the	DET
fcis-30626	245	13	construction	construction	NOUN
fcis-30626	245	14	of	of	ADP
fcis-30626	245	15	self	self	NOUN
fcis-30626	245	16	-	-	PUNCT
fcis-30626	245	17	organizing	organize	VERB
fcis-30626	245	18	networks	network	NOUN
fcis-30626	245	19	,	,	PUNCT
fcis-30626	245	20	and	and	CCONJ
fcis-30626	245	21	the	the	DET
fcis-30626	245	22	enhancement	enhancement	NOUN
fcis-30626	245	23	of	of	ADP
fcis-30626	245	24	multimodal	multimodal	NOUN
fcis-30626	245	25	perception	perception	NOUN
fcis-30626	245	26	capabilities	capability	NOUN
fcis-30626	245	27	will	will	AUX
fcis-30626	245	28	drive	drive	VERB
fcis-30626	245	29	the	the	DET
fcis-30626	245	30	intelligent	intelligent	ADJ
fcis-30626	245	31	development	development	NOUN
fcis-30626	245	32	of	of	ADP
fcis-30626	245	33	formation	formation	NOUN
fcis-30626	245	34	control	control	NOUN
fcis-30626	245	35	systems	system	NOUN
fcis-30626	245	36	.	.	PUNCT
fcis-30626	246	1	in	in	ADP
fcis-30626	246	2	system	system	NOUN
fcis-30626	246	3	-	-	PUNCT
fcis-30626	246	4	level	level	NOUN
fcis-30626	246	5	security	security	NOUN
fcis-30626	246	6	,	,	PUNCT
fcis-30626	246	7	lifecycle	lifecycle	NOUN
fcis-30626	246	8	security	security	NOUN
fcis-30626	246	9	design	design	NOUN
fcis-30626	246	10	,	,	PUNCT
fcis-30626	246	11	cross	cross	ADJ
fcis-30626	246	12	-	-	ADJ
fcis-30626	246	13	domain	domain	ADJ
fcis-30626	246	14	collaborative	collaborative	ADJ
fcis-30626	246	15	defense	defense	NOUN
fcis-30626	246	16	mechanisms	mechanism	NOUN
fcis-30626	246	17	,	,	PUNCT
fcis-30626	246	18	and	and	CCONJ
fcis-30626	246	19	the	the	DET
fcis-30626	246	20	establishment	establishment	NOUN
fcis-30626	246	21	of	of	ADP
fcis-30626	246	22	standardized	standardized	ADJ
fcis-30626	246	23	security	security	NOUN
fcis-30626	246	24	evaluation	evaluation	NOUN
fcis-30626	246	25	systems	system	NOUN
fcis-30626	246	26	will	will	AUX
fcis-30626	246	27	be	be	AUX
fcis-30626	246	28	key	key	ADJ
fcis-30626	246	29	research	research	NOUN
fcis-30626	246	30	priorities	priority	NOUN
fcis-30626	246	31	.	.	PUNCT
fcis-30626	247	1	with	with	ADP
fcis-30626	247	2	breakthroughs	breakthrough	NOUN
fcis-30626	247	3	in	in	ADP
fcis-30626	247	4	technologies	technology	NOUN
fcis-30626	247	5	such	such	ADJ
fcis-30626	247	6	as	as	ADP
fcis-30626	247	7	quantum	quantum	NOUN
fcis-30626	247	8	computing	computing	NOUN
fcis-30626	247	9	and	and	CCONJ
fcis-30626	247	10	digital	digital	ADJ
fcis-30626	247	11	twins	twin	NOUN
fcis-30626	247	12	,	,	PUNCT
fcis-30626	247	13	uav	uav	PROPN
fcis-30626	247	14	formation	formation	NOUN
fcis-30626	247	15	control	control	NOUN
fcis-30626	247	16	will	will	AUX
fcis-30626	247	17	usher	usher	PROPN
fcis-30626	247	18	in	in	ADP
fcis-30626	247	19	new	new	ADJ
fcis-30626	247	20	development	development	NOUN
fcis-30626	247	21	opportunities	opportunity	NOUN
fcis-30626	247	22	.	.	PUNCT
fcis-30626	248	1	secure	secure	ADJ
fcis-30626	248	2	communication	communication	NOUN
fcis-30626	248	3	mechanisms	mechanism	NOUN
fcis-30626	248	4	based	base	VERB
fcis-30626	248	5	on	on	ADP
fcis-30626	248	6	quantum	quantum	ADJ
fcis-30626	248	7	key	key	ADJ
fcis-30626	248	8	distribution	distribution	NOUN
fcis-30626	248	9	,	,	PUNCT
fcis-30626	248	10	the	the	DET
fcis-30626	248	11	construction	construction	NOUN
fcis-30626	248	12	of	of	ADP
fcis-30626	248	13	digital	digital	ADJ
fcis-30626	248	14	twin	twin	ADJ
fcis-30626	248	15	models	model	NOUN
fcis-30626	248	16	for	for	ADP
fcis-30626	248	17	formation	formation	NOUN
fcis-30626	248	18	systems	system	NOUN
fcis-30626	248	19	,	,	PUNCT
fcis-30626	248	20	the	the	DET
fcis-30626	248	21	adoption	adoption	NOUN
fcis-30626	248	22	of	of	ADP
fcis-30626	248	23	bio	bio	ADJ
fcis-30626	248	24	-	-	PUNCT
fcis-30626	248	25	inspired	inspire	VERB
fcis-30626	248	26	swarm	swarm	NOUN
fcis-30626	248	27	intelligence	intelligence	NOUN
fcis-30626	248	28	defense	defense	NOUN
fcis-30626	248	29	mechanisms	mechanism	NOUN
fcis-30626	248	30	,	,	PUNCT
fcis-30626	248	31	and	and	CCONJ
fcis-30626	248	32	cross	cross	ADJ
fcis-30626	248	33	-	-	ADJ
fcis-30626	248	34	domain	domain	ADJ
fcis-30626	248	35	collaborative	collaborative	ADJ
fcis-30626	248	36	control	control	NOUN
fcis-30626	248	37	of	of	ADP
fcis-30626	248	38	multi	multi	ADJ
fcis-30626	248	39	-	-	ADJ
fcis-30626	248	40	uav	uav	ADJ
fcis-30626	248	41	systems	system	NOUN
fcis-30626	248	42	will	will	AUX
fcis-30626	248	43	become	become	VERB
fcis-30626	248	44	important	important	ADJ
fcis-30626	248	45	future	future	ADJ
fcis-30626	248	46	research	research	NOUN
fcis-30626	248	47	directions	direction	NOUN
fcis-30626	248	48	.	.	PUNCT
fcis-30626	249	1	in	in	ADP
fcis-30626	249	2	summary	summary	NOUN
fcis-30626	249	3	,	,	PUNCT
fcis-30626	249	4	research	research	NOUN
fcis-30626	249	5	on	on	ADP
fcis-30626	249	6	uav	uav	PROPN
fcis-30626	249	7	formation	formation	NOUN
fcis-30626	249	8	control	control	NOUN
fcis-30626	249	9	under	under	ADP
fcis-30626	249	10	deception	deception	NOUN
fcis-30626	249	11	attacks	attack	NOUN
fcis-30626	249	12	is	be	AUX
fcis-30626	249	13	in	in	ADP
fcis-30626	249	14	a	a	DET
fcis-30626	249	15	phase	phase	NOUN
fcis-30626	249	16	of	of	ADP
fcis-30626	249	17	rapid	rapid	ADJ
fcis-30626	249	18	development	development	NOUN
fcis-30626	249	19	,	,	PUNCT
fcis-30626	249	20	requiring	require	VERB
fcis-30626	249	21	joint	joint	ADJ
fcis-30626	249	22	efforts	effort	NOUN
fcis-30626	249	23	from	from	ADP
fcis-30626	249	24	academia	academia	NOUN
fcis-30626	249	25	and	and	CCONJ
fcis-30626	249	26	industry	industry	NOUN
fcis-30626	249	27	to	to	PART
fcis-30626	249	28	advance	advance	VERB
fcis-30626	249	29	the	the	DET
fcis-30626	249	30	field	field	NOUN
fcis-30626	249	31	toward	toward	ADP
fcis-30626	249	32	greater	great	ADJ
fcis-30626	249	33	security	security	NOUN
fcis-30626	249	34	,	,	PUNCT
fcis-30626	249	35	reliability	reliability	NOUN
fcis-30626	249	36	,	,	PUNCT
fcis-30626	249	37	and	and	CCONJ
fcis-30626	249	38	intelligence	intelligence	NOUN
fcis-30626	249	39	.	.	PUNCT
fcis-30626	250	1	acknowledgments	acknowledgment	NOUN
fcis-30626	250	2	this	this	DET
fcis-30626	250	3	work	work	NOUN
fcis-30626	250	4	was	be	AUX
fcis-30626	250	5	supported	support	VERB
fcis-30626	250	6	in	in	ADP
fcis-30626	250	7	part	part	NOUN
fcis-30626	250	8	by	by	ADP
fcis-30626	250	9	the	the	DET
fcis-30626	250	10	guangdong	guangdong	PROPN
fcis-30626	250	11	basic	basic	ADJ
fcis-30626	250	12	and	and	CCONJ
fcis-30626	250	13	applied	apply	VERB
fcis-30626	250	14	basic	basic	ADJ
fcis-30626	250	15	research	research	NOUN
fcis-30626	250	16	foundation	foundation	NOUN
fcis-30626	250	17	under	under	ADP
fcis-30626	250	18	grant	grant	NOUN
fcis-30626	250	19	2023a1515010168	2023a1515010168	NOUN
fcis-30626	250	20	,	,	PUNCT
fcis-30626	250	21	in	in	ADP
fcis-30626	250	22	part	part	NOUN
fcis-30626	250	23	by	by	ADP
fcis-30626	250	24	the	the	DET
fcis-30626	250	25	key	key	ADJ
fcis-30626	250	26	special	special	ADJ
fcis-30626	250	27	foundation	foundation	NOUN
fcis-30626	250	28	for	for	ADP
fcis-30626	250	29	general	general	ADJ
fcis-30626	250	30	universities	university	NOUN
fcis-30626	250	31	in	in	ADP
fcis-30626	250	32	guangdong	guangdong	PROPN
fcis-30626	250	33	province	province	PROPN
fcis-30626	250	34	under	under	ADP
fcis-30626	250	35	grant	grant	PROPN
fcis-30626	250	36	2022zdzx1018	2022zdzx1018	PROPN
fcis-30626	250	37	,	,	PUNCT
fcis-30626	250	38	in	in	ADP
fcis-30626	250	39	part	part	NOUN
fcis-30626	250	40	by	by	ADP
fcis-30626	250	41	the	the	DET
fcis-30626	250	42	maoming	maoming	NOUN
fcis-30626	250	43	science	science	NOUN
fcis-30626	250	44	and	and	CCONJ
fcis-30626	250	45	technology	technology	NOUN
fcis-30626	250	46	plan	plan	NOUN
fcis-30626	250	47	foundation	foundation	NOUN
fcis-30626	250	48	under	under	ADP
fcis-30626	250	49	grant	grant	NOUN
fcis-30626	250	50	2022s043	2022s043	NUM
fcis-30626	250	51	,	,	PUNCT
fcis-30626	250	52	in	in	ADP
fcis-30626	250	53	part	part	NOUN
fcis-30626	250	54	by	by	ADP
fcis-30626	250	55	the	the	DET
fcis-30626	250	56	national	national	ADJ
fcis-30626	250	57	natural	natural	PROPN
fcis-30626	250	58	science	science	PROPN
fcis-30626	250	59	foundation	foundation	PROPN
fcis-30626	250	60	of	of	ADP
fcis-30626	250	61	china	china	PROPN
fcis-30626	250	62	under	under	ADP
fcis-30626	250	63	grant	grant	PROPN
fcis-30626	250	64	62273109	62273109	NUM
fcis-30626	250	65	,	,	PUNCT
fcis-30626	250	66	grant	grant	VERB
fcis-30626	250	67	62333006	62333006	NUM
fcis-30626	250	68	,	,	PUNCT
fcis-30626	250	69	grant	grant	VERB
fcis-30626	250	70	62073144	62073144	NUM
fcis-30626	250	71	.	.	PUNCT
fcis-30626	251	1	references	reference	NOUN
fcis-30626	251	2	[	[	X
fcis-30626	251	3	1	1	NUM
fcis-30626	251	4	]	]	PUNCT
fcis-30626	251	5	grand	grand	ADJ
fcis-30626	251	6	view	view	NOUN
fcis-30626	251	7	research	research	NOUN
fcis-30626	251	8	.	.	PUNCT
fcis-30626	252	1	drone	drone	NOUN
fcis-30626	252	2	market	market	NOUN
fcis-30626	252	3	size	size	NOUN
fcis-30626	252	4	,	,	PUNCT
fcis-30626	252	5	share	share	NOUN
fcis-30626	252	6	&	&	CCONJ
fcis-30626	252	7	trends	trend	VERB
fcis-30626	252	8	analysis	analysis	NOUN
fcis-30626	252	9	report	report	NOUN
fcis-30626	252	10	by	by	ADP
fcis-30626	252	11	component	component	NOUN
fcis-30626	252	12	,	,	PUNCT
fcis-30626	252	13	by	by	ADP
fcis-30626	252	14	product	product	NOUN
fcis-30626	252	15	,	,	PUNCT
fcis-30626	252	16	by	by	ADP
fcis-30626	252	17	technology	technology	NOUN
fcis-30626	252	18	,	,	PUNCT
fcis-30626	252	19	by	by	ADP
fcis-30626	252	20	payload	payload	NOUN
fcis-30626	252	21	capacity	capacity	NOUN
fcis-30626	252	22	,	,	PUNCT
fcis-30626	252	23	by	by	ADP
fcis-30626	252	24	power	power	NOUN
fcis-30626	252	25	source	source	NOUN
fcis-30626	252	26	,	,	PUNCT
fcis-30626	252	27	by	by	ADP
fcis-30626	252	28	end	end	NOUN
fcis-30626	252	29	use	use	NOUN
fcis-30626	252	30	,	,	PUNCT
fcis-30626	252	31	by	by	ADP
fcis-30626	252	32	region	region	NOUN
fcis-30626	252	33	,	,	PUNCT
fcis-30626	252	34	and	and	CCONJ
fcis-30626	252	35	segment	segment	NOUN
fcis-30626	252	36	forecasts	forecast	NOUN
fcis-30626	252	37	,	,	PUNCT
fcis-30626	252	38	2025	2025	NUM
fcis-30626	252	39	-	-	SYM
fcis-30626	252	40	2030[r	2030[r	NUM
fcis-30626	252	41	]	]	PUNCT
fcis-30626	252	42	.	.	PUNCT
fcis-30626	253	1	san	san	PROPN
fcis-30626	253	2	francisco	francisco	PROPN
fcis-30626	253	3	:	:	PUNCT
fcis-30626	253	4	grand	grand	ADJ
fcis-30626	253	5	view	view	NOUN
fcis-30626	253	6	research	research	PROPN
fcis-30626	253	7	,	,	PUNCT
fcis-30626	253	8	inc	inc	PROPN
fcis-30626	253	9	.	.	PROPN
fcis-30626	253	10	,	,	PUNCT
fcis-30626	253	11	2024	2024	NUM
fcis-30626	253	12	.	.	PUNCT
fcis-30626	254	1	[	[	X
fcis-30626	254	2	2	2	NUM
fcis-30626	254	3	]	]	PUNCT
fcis-30626	254	4	oh	oh	INTJ
fcis-30626	254	5	k	k	NOUN
fcis-30626	254	6	,	,	PUNCT
fcis-30626	254	7	park	park	NOUN
fcis-30626	254	8	m	m	PROPN
fcis-30626	254	9	,	,	PUNCT
fcis-30626	254	10	ahn	ahn	PROPN
fcis-30626	254	11	h	h	PROPN
fcis-30626	254	12	.a	.a	PROPN
fcis-30626	254	13	survey	survey	NOUN
fcis-30626	254	14	of	of	ADP
fcis-30626	254	15	multi	multi	ADJ
fcis-30626	254	16	-	-	ADJ
fcis-30626	254	17	agent	agent	ADJ
fcis-30626	254	18	formation	formation	NOUN
fcis-30626	254	19	control[j].automatica,2015,53424	control[j].automatica,2015,53424	PROPN
fcis-30626	254	20	-	-	PUNCT
fcis-30626	254	21	440	440	NUM
fcis-30626	254	22	.	.	PUNCT
fcis-30626	255	1	[	[	X
fcis-30626	255	2	3	3	X
fcis-30626	255	3	]	]	X
fcis-30626	255	4	chen	chen	PROPN
fcis-30626	255	5	w	w	PROPN
fcis-30626	255	6	,	,	PUNCT
fcis-30626	255	7	liu	liu	PROPN
fcis-30626	255	8	j	j	PROPN
fcis-30626	255	9	,	,	PUNCT
fcis-30626	255	10	guo	guo	PROPN
fcis-30626	255	11	h	h	PROPN
fcis-30626	255	12	,	,	PUNCT
fcis-30626	255	13	et	et	PROPN
fcis-30626	255	14	al	al	PROPN
fcis-30626	255	15	.	.	PROPN
fcis-30626	256	1	toward	toward	ADP
fcis-30626	256	2	robust	robust	ADJ
fcis-30626	256	3	and	and	CCONJ
fcis-30626	256	4	intelligent	intelligent	ADJ
fcis-30626	256	5	drone	drone	NOUN
fcis-30626	256	6	swarm	swarm	NOUN
fcis-30626	256	7	:	:	PUNCT
fcis-30626	256	8	challenges	challenge	NOUN
fcis-30626	256	9	and	and	CCONJ
fcis-30626	256	10	future	future	ADJ
fcis-30626	256	11	directions[j	directions[j	PROPN
fcis-30626	256	12	]	]	PUNCT
fcis-30626	256	13	.	.	PUNCT
fcis-30626	257	1	ieee	ieee	NOUN
fcis-30626	257	2	network	network	NOUN
fcis-30626	257	3	,	,	PUNCT
fcis-30626	257	4	2020	2020	NUM
fcis-30626	257	5	,	,	PUNCT
fcis-30626	257	6	34(4	34(4	NUM
fcis-30626	257	7	):	):	PUNCT
fcis-30626	257	8	278	278	NUM
fcis-30626	257	9	-	-	SYM
fcis-30626	257	10	283	283	NUM
fcis-30626	257	11	.	.	PUNCT
fcis-30626	258	1	[	[	X
fcis-30626	258	2	4	4	NUM
fcis-30626	258	3	]	]	X
fcis-30626	258	4	liao	liao	PROPN
fcis-30626	258	5	f	f	PROPN
fcis-30626	258	6	,	,	PUNCT
fcis-30626	258	7	teo	teo	PROPN
fcis-30626	258	8	r	r	PROPN
fcis-30626	258	9	,	,	PUNCT
fcis-30626	258	10	wang	wang	PROPN
fcis-30626	258	11	j	j	PROPN
fcis-30626	258	12	l	l	PROPN
fcis-30626	258	13	,	,	PUNCT
fcis-30626	258	14	et	et	PROPN
fcis-30626	258	15	al	al	PROPN
fcis-30626	258	16	.	.	PROPN
fcis-30626	258	17	distributed	distribute	VERB
fcis-30626	258	18	formation	formation	NOUN
fcis-30626	258	19	and	and	CCONJ
fcis-30626	258	20	reconfiguration	reconfiguration	NOUN
fcis-30626	258	21	control	control	NOUN
fcis-30626	258	22	of	of	ADP
fcis-30626	258	23	vtol	vtol	PROPN
fcis-30626	258	24	uavs[j	uavs[j	PROPN
fcis-30626	258	25	]	]	PUNCT
fcis-30626	258	26	.	.	PUNCT
fcis-30626	259	1	ieee	ieee	NOUN
fcis-30626	259	2	transactions	transaction	NOUN
fcis-30626	259	3	on	on	ADP
fcis-30626	259	4	control	control	NOUN
fcis-30626	259	5	systems	system	NOUN
fcis-30626	259	6	technology	technology	NOUN
fcis-30626	259	7	,	,	PUNCT
fcis-30626	259	8	2016	2016	NUM
fcis-30626	259	9	,	,	PUNCT
fcis-30626	259	10	25(1	25(1	NUM
fcis-30626	259	11	):	):	PUNCT
fcis-30626	259	12	270	270	NUM
fcis-30626	259	13	-	-	SYM
fcis-30626	259	14	277	277	NUM
fcis-30626	259	15	.	.	PUNCT
fcis-30626	260	1	[	[	X
fcis-30626	260	2	5	5	X
fcis-30626	260	3	]	]	X
fcis-30626	260	4	mehran	mehran	PROPN
fcis-30626	260	5	m	m	PROPN
fcis-30626	260	6	,	,	PUNCT
fcis-30626	260	7	magnus	magnus	PROPN
fcis-30626	260	8	e	e	X
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fcis-30626	260	10	theoretic	theoretic	ADJ
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fcis-30626	260	12	in	in	ADP
fcis-30626	260	13	multiagent	multiagent	PROPN
fcis-30626	260	14	networks[m].princeton	networks[m].princeton	PROPN
fcis-30626	260	15	university	university	PROPN
fcis-30626	260	16	press:2010	press:2010	PROPN
fcis-30626	260	17	-	-	PUNCT
fcis-30626	260	18	07	07	NUM
fcis-30626	260	19	-	-	PUNCT
fcis-30626	260	20	01	01	NUM
fcis-30626	260	21	.	.	PUNCT
fcis-30626	261	1	[	[	X
fcis-30626	261	2	6	6	NUM
fcis-30626	261	3	]	]	X
fcis-30626	261	4	chen	chen	PROPN
fcis-30626	261	5	q	q	PROPN
fcis-30626	261	6	,	,	PUNCT
fcis-30626	261	7	wang	wang	PROPN
fcis-30626	261	8	t	t	PROPN
fcis-30626	261	9	,	,	PUNCT
fcis-30626	261	10	jin	jin	PROPN
fcis-30626	261	11	y	y	PROPN
fcis-30626	261	12	,	,	PUNCT
fcis-30626	261	13	et	et	PROPN
fcis-30626	261	14	al	al	PROPN
fcis-30626	261	15	.	.	PROPN
fcis-30626	262	1	a	a	DET
fcis-30626	262	2	uav	uav	PROPN
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fcis-30626	262	4	control	control	NOUN
fcis-30626	262	5	method	method	NOUN
fcis-30626	262	6	based	base	VERB
fcis-30626	262	7	on	on	ADP
fcis-30626	262	8	sliding	sliding	ADJ
fcis-30626	262	9	-	-	PUNCT
fcis-30626	262	10	mode	mode	NOUN
fcis-30626	262	11	control	control	NOUN
fcis-30626	262	12	under	under	ADP
fcis-30626	262	13	communication	communication	NOUN
fcis-30626	262	14	constraints[j	constraints[j	PROPN
fcis-30626	262	15	]	]	PUNCT
fcis-30626	262	16	.	.	PUNCT
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fcis-30626	263	2	,	,	PUNCT
fcis-30626	263	3	2023	2023	NUM
fcis-30626	263	4	,	,	PUNCT
fcis-30626	263	5	7(4	7(4	NUM
fcis-30626	263	6	):	):	PUNCT
fcis-30626	263	7	231	231	NUM
fcis-30626	263	8	.	.	PUNCT
fcis-30626	264	1	[	[	X
fcis-30626	264	2	7	7	X
fcis-30626	264	3	]	]	X
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fcis-30626	264	5	z	z	PROPN
fcis-30626	264	6	,	,	PUNCT
fcis-30626	264	7	lei	lei	PROPN
fcis-30626	264	8	c	c	PROPN
fcis-30626	264	9	a	a	DET
fcis-30626	264	10	o	o	NOUN
fcis-30626	264	11	,	,	PUNCT
fcis-30626	264	12	xiliang	xiliang	PROPN
fcis-30626	264	13	c	c	PROPN
fcis-30626	264	14	,	,	PUNCT
fcis-30626	264	15	et	et	PROPN
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fcis-30626	264	17	.	.	PUNCT
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fcis-30626	265	3	attack	attack	NOUN
fcis-30626	265	4	strategy	strategy	NOUN
fcis-30626	265	5	generation	generation	NOUN
fcis-30626	265	6	model	model	NOUN
fcis-30626	265	7	based	base	VERB
fcis-30626	265	8	on	on	ADP
fcis-30626	265	9	multi	multi	ADJ
fcis-30626	265	10	-	-	ADJ
fcis-30626	265	11	agent	agent	ADJ
fcis-30626	265	12	game	game	NOUN
fcis-30626	265	13	163	163	NUM
fcis-30626	265	14	reinforcement	reinforcement	NOUN
fcis-30626	265	15	learning[j	learning[j	NOUN
fcis-30626	265	16	]	]	PUNCT
fcis-30626	265	17	.	.	PUNCT
fcis-30626	266	1	systems	system	NOUN
fcis-30626	266	2	engineering	engineering	PROPN
fcis-30626	266	3	&	&	CCONJ
fcis-30626	266	4	electronics	electronic	NOUN
fcis-30626	266	5	,	,	PUNCT
fcis-30626	266	6	2023	2023	NUM
fcis-30626	266	7	,	,	PUNCT
fcis-30626	266	8	45(10	45(10	NUM
fcis-30626	266	9	)	)	PUNCT
fcis-30626	266	10	.	.	PUNCT
fcis-30626	267	1	[	[	X
fcis-30626	267	2	8	8	NUM
fcis-30626	267	3	]	]	PUNCT
fcis-30626	267	4	sarhan	sarhan	ADP
fcis-30626	267	5	a	a	PRON
fcis-30626	267	6	,	,	PUNCT
fcis-30626	267	7	qin	qin	PROPN
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fcis-30626	267	10	control	control	NOUN
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fcis-30626	267	12	formation	formation	NOUN
fcis-30626	267	13	flight	flight	NOUN
fcis-30626	267	14	of	of	ADP
fcis-30626	267	15	uavs	uavs	NOUN
fcis-30626	267	16	based	base	VERB
fcis-30626	267	17	on	on	ADP
fcis-30626	267	18	anfis[c]//2017	anfis[c]//2017	ADP
fcis-30626	267	19	2nd	2nd	ADJ
fcis-30626	267	20	international	international	ADJ
fcis-30626	267	21	conference	conference	NOUN
fcis-30626	267	22	on	on	ADP
fcis-30626	267	23	machinery	machinery	NOUN
fcis-30626	267	24	,	,	PUNCT
fcis-30626	267	25	electronics	electronic	NOUN
fcis-30626	267	26	and	and	CCONJ
fcis-30626	267	27	control	control	PROPN
fcis-30626	267	28	simulation	simulation	NOUN
fcis-30626	267	29	(	(	PUNCT
fcis-30626	267	30	mecs	mecs	PROPN
fcis-30626	267	31	2017	2017	NUM
fcis-30626	267	32	)	)	PUNCT
fcis-30626	267	33	.	.	PUNCT
fcis-30626	268	1	atlantis	atlantis	PROPN
fcis-30626	268	2	press	press	PROPN
fcis-30626	268	3	,	,	PUNCT
fcis-30626	268	4	2016	2016	NUM
fcis-30626	268	5	:	:	PUNCT
fcis-30626	268	6	447	447	NUM
fcis-30626	268	7	-	-	SYM
fcis-30626	268	8	453	453	NUM
fcis-30626	268	9	.	.	PUNCT
fcis-30626	269	1	[	[	X
fcis-30626	269	2	9	9	NUM
fcis-30626	269	3	]	]	X
fcis-30626	269	4	kamel	kamel	PROPN
fcis-30626	269	5	b	b	PROPN
fcis-30626	269	6	,	,	PUNCT
fcis-30626	269	7	oussama	oussama	PROPN
fcis-30626	269	8	a.	a.	PROPN
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fcis-30626	269	16	a	a	DET
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fcis-30626	269	18	of	of	ADP
fcis-30626	269	19	unmanned	unmanned	ADJ
fcis-30626	269	20	aerial	aerial	ADJ
fcis-30626	269	21	vehicle[c]//2021	vehicle[c]//2021	NUM
fcis-30626	269	22	5th	5th	ADJ
fcis-30626	269	23	international	international	ADJ
fcis-30626	269	24	conference	conference	NOUN
fcis-30626	269	25	on	on	ADP
fcis-30626	269	26	vision	vision	NOUN
fcis-30626	269	27	,	,	PUNCT
fcis-30626	269	28	image	image	NOUN
fcis-30626	269	29	and	and	CCONJ
fcis-30626	269	30	signal	signal	NOUN
fcis-30626	269	31	processing	processing	NOUN
fcis-30626	269	32	(	(	PUNCT
fcis-30626	269	33	icvisp	icvisp	ADJ
fcis-30626	269	34	)	)	PUNCT
fcis-30626	269	35	.	.	PUNCT
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fcis-30626	270	2	,	,	PUNCT
fcis-30626	270	3	2021	2021	NUM
fcis-30626	270	4	:	:	PUNCT
fcis-30626	270	5	212	212	NUM
fcis-30626	270	6	-	-	SYM
fcis-30626	270	7	217	217	NUM
fcis-30626	270	8	.	.	PUNCT
fcis-30626	271	1	[	[	X
fcis-30626	271	2	10	10	NUM
fcis-30626	271	3	]	]	X
fcis-30626	271	4	pan	pan	PROPN
fcis-30626	271	5	z	z	PROPN
fcis-30626	271	6	,	,	PUNCT
fcis-30626	271	7	zhang	zhang	PROPN
fcis-30626	271	8	c	c	PROPN
fcis-30626	271	9	,	,	PUNCT
fcis-30626	271	10	xia	xia	PROPN
fcis-30626	271	11	y	y	PROPN
fcis-30626	271	12	,	,	PUNCT
fcis-30626	271	13	et	et	PROPN
fcis-30626	271	14	al	al	PROPN
fcis-30626	271	15	.	.	PUNCT
fcis-30626	272	1	an	an	DET
fcis-30626	272	2	improved	improved	ADJ
fcis-30626	272	3	artificial	artificial	ADJ
fcis-30626	272	4	potential	potential	ADJ
fcis-30626	272	5	field	field	NOUN
fcis-30626	272	6	method	method	NOUN
fcis-30626	272	7	for	for	ADP
fcis-30626	272	8	path	path	NOUN
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fcis-30626	272	12	control	control	NOUN
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fcis-30626	272	16	-	-	PROPN
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fcis-30626	272	19	]	]	PUNCT
fcis-30626	272	20	.	.	PUNCT
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fcis-30626	273	2	transactions	transaction	NOUN
fcis-30626	273	3	on	on	ADP
fcis-30626	273	4	circuits	circuit	NOUN
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fcis-30626	273	6	systems	system	NOUN
fcis-30626	273	7	ii	ii	PROPN
fcis-30626	273	8	:	:	PUNCT
fcis-30626	273	9	express	express	VERB
fcis-30626	273	10	briefs	brief	NOUN
fcis-30626	273	11	,	,	PUNCT
fcis-30626	273	12	2021	2021	NUM
fcis-30626	273	13	,	,	PUNCT
fcis-30626	273	14	69(3	69(3	NUM
fcis-30626	273	15	):	):	PUNCT
fcis-30626	273	16	1129	1129	NUM
fcis-30626	273	17	-	-	SYM
fcis-30626	273	18	1133	1133	NUM
fcis-30626	273	19	.	.	PUNCT
fcis-30626	274	1	[	[	X
fcis-30626	274	2	11	11	NUM
fcis-30626	274	3	]	]	X
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fcis-30626	275	17	]	]	PUNCT
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fcis-30626	276	10	8(9	8(9	NUM
fcis-30626	276	11	)	)	PUNCT
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fcis-30626	277	19	threats	threat	NOUN
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fcis-30626	277	28	-	-	PUNCT
fcis-30626	277	29	hoc	hoc	X
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fcis-30626	277	31	]	]	X
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fcis-30626	280	9	.	.	PUNCT
fcis-30626	281	1	tel	tel	PROPN
fcis-30626	281	2	aviv	aviv	PROPN
fcis-30626	281	3	:	:	PUNCT
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fcis-30626	281	5	point	point	NOUN
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fcis-30626	283	13	cyber	cyber	NOUN
fcis-30626	283	14	-	-	PUNCT
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fcis-30626	283	16	systems[j	systems[j	PROPN
fcis-30626	283	17	]	]	PUNCT
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fcis-30626	284	3	on	on	ADP
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fcis-30626	284	6	-	-	PUNCT
fcis-30626	284	7	2499	2499	NUM
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fcis-30626	286	13	secure	secure	ADJ
fcis-30626	286	14	state	state	NOUN
fcis-30626	286	15	estimation	estimation	NOUN
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fcis-30626	286	17	control	control	NOUN
fcis-30626	286	18	for	for	ADP
fcis-30626	286	19	cpss	cpss	NOUN
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fcis-30626	286	22	attacks[j	attacks[j	PROPN
fcis-30626	286	23	]	]	PUNCT
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fcis-30626	287	9	):	):	PUNCT
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fcis-30626	287	12	269	269	NUM
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fcis-30626	290	11	):	):	PUNCT
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fcis-30626	297	15	a	a	DET
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fcis-30626	297	17	uav	uav	PROPN
fcis-30626	297	18	with	with	ADP
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fcis-30626	297	23	[	[	X
fcis-30626	297	24	j	j	X
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fcis-30626	298	8	,	,	PUNCT
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fcis-30626	299	9	,	,	PUNCT
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fcis-30626	300	4	game	game	NOUN
fcis-30626	300	5	for	for	ADP
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fcis-30626	300	12	systems[j	systems[j	PROPN
fcis-30626	300	13	]	]	PUNCT
fcis-30626	300	14	.	.	PUNCT
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fcis-30626	301	4	,	,	PUNCT
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fcis-30626	301	8	-	-	SYM
fcis-30626	301	9	63	63	NUM
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fcis-30626	302	1	[	[	X
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fcis-30626	302	8	k	k	PROPN
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fcis-30626	302	17	formation	formation	NOUN
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fcis-30626	302	20	clustered	clustered	ADJ
fcis-30626	302	21	vertical	vertical	ADJ
fcis-30626	302	22	takeoff	takeoff	NOUN
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fcis-30626	302	25	uavs[j	uavs[j	PROPN
fcis-30626	302	26	]	]	PUNCT
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fcis-30626	303	5	and	and	CCONJ
fcis-30626	303	6	electronic	electronic	ADJ
fcis-30626	303	7	systems	system	NOUN
fcis-30626	303	8	,	,	PUNCT
fcis-30626	303	9	2021	2021	NUM
fcis-30626	303	10	,	,	PUNCT
fcis-30626	303	11	58(2	58(2	NUM
fcis-30626	303	12	):	):	PUNCT
fcis-30626	303	13	1069	1069	NUM
fcis-30626	303	14	-	-	SYM
fcis-30626	303	15	1082	1082	NUM
fcis-30626	303	16	.	.	PUNCT
fcis-30626	304	1	[	[	X
fcis-30626	304	2	22	22	NUM
fcis-30626	304	3	]	]	X
fcis-30626	304	4	the	the	DET
fcis-30626	304	5	14th	14th	ADJ
fcis-30626	304	6	five	five	NUM
fcis-30626	304	7	-	-	PUNCT
fcis-30626	304	8	year	year	NOUN
fcis-30626	304	9	plan	plan	NOUN
fcis-30626	304	10	for	for	ADP
fcis-30626	304	11	national	national	ADJ
fcis-30626	304	12	economic	economic	ADJ
fcis-30626	304	13	and	and	CCONJ
fcis-30626	304	14	social	social	ADJ
fcis-30626	304	15	development	development	NOUN
fcis-30626	304	16	of	of	ADP
fcis-30626	304	17	the	the	DET
fcis-30626	304	18	people	people	NOUN
fcis-30626	304	19	’s	’s	PART
fcis-30626	304	20	republic	republic	NOUN
fcis-30626	304	21	of	of	ADP
fcis-30626	304	22	china	china	PROPN
fcis-30626	304	23	and	and	CCONJ
fcis-30626	304	24	the	the	DET
fcis-30626	304	25	outline	outline	NOUN
fcis-30626	304	26	of	of	ADP
fcis-30626	304	27	the	the	DET
fcis-30626	304	28	long	long	ADJ
fcis-30626	304	29	-	-	PUNCT
fcis-30626	304	30	term	term	NOUN
fcis-30626	304	31	objectives	objective	NOUN
fcis-30626	304	32	for	for	ADP
fcis-30626	304	33	2035[m	2035[m	NUM
fcis-30626	304	34	]	]	PUNCT
fcis-30626	304	35	.	.	PUNCT
fcis-30626	305	1	beijing	beijing	PROPN
fcis-30626	305	2	:	:	PUNCT
fcis-30626	305	3	people	people	NOUN
fcis-30626	305	4	’s	’s	PART
fcis-30626	305	5	publishing	publishing	PROPN
fcis-30626	305	6	house	house	NOUN
fcis-30626	305	7	,	,	PUNCT
fcis-30626	305	8	2021	2021	NUM
fcis-30626	305	9	.	.	PUNCT
fcis-30626	306	1	[	[	X
fcis-30626	306	2	23	23	NUM
fcis-30626	306	3	]	]	X
fcis-30626	306	4	ministry	ministry	PROPN
fcis-30626	306	5	of	of	ADP
fcis-30626	306	6	industry	industry	NOUN
fcis-30626	306	7	and	and	CCONJ
fcis-30626	306	8	information	information	NOUN
fcis-30626	306	9	technology	technology	NOUN
fcis-30626	306	10	.	.	PUNCT
fcis-30626	307	1	“	"	PUNCT
fcis-30626	307	2	14th	14th	ADJ
fcis-30626	307	3	fiveyear	fiveyear	NOUN
fcis-30626	307	4	plan	plan	NOUN
fcis-30626	307	5	”	"	PUNCT
fcis-30626	307	6	intelligent	intelligent	ADJ
fcis-30626	307	7	manufacturing	manufacturing	NOUN
fcis-30626	307	8	development	development	NOUN
fcis-30626	307	9	plan[z	plan[z	PROPN
fcis-30626	307	10	]	]	PUNCT
fcis-30626	307	11	.	.	PUNCT
fcis-30626	308	1	2022	2022	NUM
fcis-30626	308	2	-	-	SYM
fcis-30626	308	3	12	12	NUM
fcis-30626	308	4	-	-	SYM
fcis-30626	308	5	22	22	NUM
fcis-30626	308	6	.	.	PUNCT
fcis-30626	309	1	[	[	X
fcis-30626	309	2	24	24	NUM
fcis-30626	309	3	]	]	X
fcis-30626	309	4	chinese	chinese	ADJ
fcis-30626	309	5	society	society	NOUN
fcis-30626	309	6	of	of	ADP
fcis-30626	309	7	aeronautics	aeronautics	PROPN
fcis-30626	309	8	.	.	PUNCT
fcis-30626	310	1	china	china	PROPN
fcis-30626	310	2	uav	uav	PROPN
fcis-30626	310	3	development	development	PROPN
fcis-30626	310	4	report	report	PROPN
fcis-30626	310	5	(	(	PUNCT
fcis-30626	310	6	2023	2023	NUM
fcis-30626	310	7	)	)	PUNCT
fcis-30626	311	1	[	[	X
fcis-30626	311	2	r	r	X
fcis-30626	311	3	]	]	PUNCT
fcis-30626	311	4	.	.	PUNCT
fcis-30626	312	1	beijing	beijing	PROPN
fcis-30626	312	2	:	:	PUNCT
fcis-30626	312	3	aviation	aviation	NOUN
fcis-30626	312	4	industry	industry	NOUN
fcis-30626	312	5	press	press	NOUN
fcis-30626	312	6	,	,	PUNCT
fcis-30626	312	7	2023.li	2023.li	PROPN
fcis-30626	312	8	s	s	PROPN
fcis-30626	312	9	,	,	PUNCT
fcis-30626	312	10	chen	chen	PROPN
fcis-30626	312	11	y	y	PROPN
fcis-30626	312	12	,	,	PUNCT
fcis-30626	312	13	liu	liu	PROPN
fcis-30626	312	14	p	p	PROPN
fcis-30626	312	15	x.	x.	PROPN
fcis-30626	312	16	distributed	distribute	VERB
fcis-30626	312	17	fault	fault	NOUN
fcis-30626	312	18	detection	detection	NOUN
fcis-30626	312	19	and	and	CCONJ
fcis-30626	312	20	dynamic	dynamic	ADJ
fcis-30626	312	21	event	event	NOUN
fcis-30626	312	22	-	-	PUNCT
fcis-30626	312	23	triggered	trigger	VERB
fcis-30626	312	24	consensus	consensus	NOUN
fcis-30626	312	25	for	for	ADP
fcis-30626	312	26	heterogeneous	heterogeneous	ADJ
fcis-30626	312	27	multiagent	multiagent	NOUN
fcis-30626	312	28	systems	system	NOUN
fcis-30626	312	29	under	under	ADP
fcis-30626	312	30	deception	deception	NOUN
fcis-30626	312	31	attacks[j	attacks[j	PROPN
fcis-30626	312	32	]	]	PUNCT
fcis-30626	312	33	.	.	PUNCT
fcis-30626	313	1	ieee	ieee	NOUN
fcis-30626	313	2	transactions	transaction	NOUN
fcis-30626	313	3	on	on	ADP
fcis-30626	313	4	circuits	circuit	NOUN
fcis-30626	313	5	and	and	CCONJ
fcis-30626	313	6	systems	system	NOUN
fcis-30626	313	7	i	i	PRON
fcis-30626	313	8	:	:	PUNCT
fcis-30626	313	9	regular	regular	ADJ
fcis-30626	313	10	papers	paper	NOUN
fcis-30626	313	11	,	,	PUNCT
fcis-30626	313	12	2023	2023	NUM
fcis-30626	313	13	,	,	PUNCT
fcis-30626	313	14	70(8	70(8	NUM
fcis-30626	313	15	):	):	PUNCT
fcis-30626	313	16	32943304	32943304	NUM
fcis-30626	313	17	.	.	PUNCT
fcis-30626	314	1	[	[	X
fcis-30626	314	2	25	25	NUM
fcis-30626	314	3	]	]	X
fcis-30626	314	4	zhu	zhu	PROPN
fcis-30626	314	5	q	q	NOUN
fcis-30626	314	6	,	,	PUNCT
fcis-30626	314	7	bushnell	bushnell	PROPN
fcis-30626	314	8	l	l	PROPN
fcis-30626	314	9	,	,	PUNCT
fcis-30626	314	10	başar	başar	NOUN
fcis-30626	314	11	t.	t.	PROPN
fcis-30626	314	12	resilient	resilient	ADJ
fcis-30626	314	13	distributed	distribute	VERB
fcis-30626	314	14	control	control	NOUN
fcis-30626	314	15	of	of	ADP
fcis-30626	314	16	multi	multi	ADJ
fcis-30626	314	17	-	-	ADJ
fcis-30626	314	18	agent	agent	ADJ
fcis-30626	314	19	cyber	cyber	NOUN
fcis-30626	314	20	-	-	PUNCT
fcis-30626	314	21	physical	physical	PROPN
fcis-30626	314	22	systems[c]//control	systems[c]//control	PROPN
fcis-30626	314	23	of	of	ADP
fcis-30626	314	24	cyberphysical	cyberphysical	ADJ
fcis-30626	314	25	systems	system	NOUN
fcis-30626	314	26	:	:	PUNCT
fcis-30626	314	27	workshop	workshop	NOUN
fcis-30626	314	28	held	hold	VERB
fcis-30626	314	29	at	at	ADP
fcis-30626	314	30	johns	johns	PROPN
fcis-30626	314	31	hopkins	hopkins	PROPN
fcis-30626	314	32	university	university	PROPN
fcis-30626	314	33	,	,	PUNCT
fcis-30626	314	34	march	march	PROPN
fcis-30626	314	35	2013	2013	NUM
fcis-30626	314	36	.	.	PUNCT
fcis-30626	315	1	springer	springer	NOUN
fcis-30626	315	2	international	international	ADJ
fcis-30626	315	3	publishing	publishing	NOUN
fcis-30626	315	4	,	,	PUNCT
fcis-30626	315	5	2013	2013	NUM
fcis-30626	315	6	:	:	PUNCT
fcis-30626	315	7	301	301	NUM
fcis-30626	315	8	-	-	SYM
fcis-30626	315	9	316	316	NUM
fcis-30626	315	10	.	.	PUNCT
fcis-30626	316	1	[	[	X
fcis-30626	316	2	26	26	NUM
fcis-30626	316	3	]	]	PUNCT
fcis-30626	316	4	yuan	yuan	NOUN
fcis-30626	316	5	h	h	NOUN
fcis-30626	316	6	,	,	PUNCT
fcis-30626	316	7	xia	xia	PROPN
fcis-30626	316	8	y	y	PROPN
fcis-30626	316	9	,	,	PUNCT
fcis-30626	316	10	yang	yang	PROPN
fcis-30626	316	11	h.	h.	PROPN
fcis-30626	317	1	resilient	resilient	ADJ
fcis-30626	317	2	state	state	NOUN
fcis-30626	317	3	estimation	estimation	NOUN
fcis-30626	317	4	of	of	ADP
fcis-30626	317	5	cyberphysical	cyberphysical	ADJ
fcis-30626	317	6	system	system	NOUN
fcis-30626	317	7	with	with	ADP
fcis-30626	317	8	multichannel	multichannel	ADJ
fcis-30626	317	9	transmission	transmission	NOUN
fcis-30626	317	10	under	under	ADP
fcis-30626	317	11	dos	do	NOUN
fcis-30626	317	12	attack[j	attack[j	PROPN
fcis-30626	317	13	]	]	PUNCT
fcis-30626	317	14	.	.	PUNCT
fcis-30626	318	1	ieee	ieee	NOUN
fcis-30626	318	2	transactions	transaction	NOUN
fcis-30626	318	3	on	on	ADP
fcis-30626	318	4	systems	system	NOUN
fcis-30626	318	5	,	,	PUNCT
fcis-30626	318	6	man	man	NOUN
fcis-30626	318	7	,	,	PUNCT
fcis-30626	318	8	and	and	CCONJ
fcis-30626	318	9	cybernetics	cybernetic	NOUN
fcis-30626	318	10	:	:	PUNCT
fcis-30626	318	11	systems	system	NOUN
fcis-30626	318	12	,	,	PUNCT
fcis-30626	318	13	2020	2020	NUM
fcis-30626	318	14	,	,	PUNCT
fcis-30626	318	15	51(11	51(11	NUM
fcis-30626	318	16	):	):	PUNCT
fcis-30626	318	17	6926	6926	NUM
fcis-30626	318	18	-	-	SYM
fcis-30626	318	19	6937	6937	NUM
fcis-30626	318	20	.	.	PUNCT
fcis-30626	319	1	[	[	X
fcis-30626	319	2	27	27	NUM
fcis-30626	319	3	]	]	X
fcis-30626	319	4	saulnier	saulnier	NOUN
fcis-30626	319	5	k	k	PROPN
fcis-30626	319	6	,	,	PUNCT
fcis-30626	319	7	saldana	saldana	PROPN
fcis-30626	319	8	d	d	PROPN
fcis-30626	319	9	,	,	PUNCT
fcis-30626	319	10	prorok	prorok	NOUN
fcis-30626	319	11	a	a	NOUN
fcis-30626	319	12	,	,	PUNCT
fcis-30626	319	13	et	et	PROPN
fcis-30626	319	14	al	al	PROPN
fcis-30626	319	15	.	.	PUNCT
fcis-30626	320	1	resilient	resilient	ADJ
fcis-30626	320	2	flocking	flocking	NOUN
fcis-30626	320	3	for	for	ADP
fcis-30626	320	4	mobile	mobile	ADJ
fcis-30626	320	5	robot	robot	NOUN
fcis-30626	320	6	teams[j	teams[j	PROPN
fcis-30626	320	7	]	]	PUNCT
fcis-30626	320	8	.	.	PUNCT
fcis-30626	321	1	ieee	ieee	NOUN
fcis-30626	321	2	robotics	robotic	NOUN
fcis-30626	321	3	and	and	CCONJ
fcis-30626	321	4	automation	automation	NOUN
fcis-30626	321	5	letters	letter	NOUN
fcis-30626	321	6	,	,	PUNCT
fcis-30626	321	7	2017	2017	NUM
fcis-30626	321	8	,	,	PUNCT
fcis-30626	321	9	2(2	2(2	NUM
fcis-30626	321	10	):	):	PUNCT
fcis-30626	321	11	1039	1039	NUM
fcis-30626	321	12	-	-	SYM
fcis-30626	321	13	1046	1046	NUM
fcis-30626	321	14	.	.	PUNCT
fcis-30626	322	1	[	[	X
fcis-30626	322	2	28	28	NUM
fcis-30626	322	3	]	]	X
fcis-30626	322	4	xu	xu	PROPN
fcis-30626	322	5	y	y	PROPN
fcis-30626	322	6	,	,	PUNCT
fcis-30626	322	7	di	di	NOUN
fcis-30626	322	8	l	l	PROPN
fcis-30626	322	9	,	,	PUNCT
fcis-30626	322	10	chen	chen	PROPN
fcis-30626	322	11	y	y	PROPN
fcis-30626	322	12	q.	q.	PROPN
fcis-30626	322	13	consensus	consensus	PROPN
fcis-30626	322	14	based	base	VERB
fcis-30626	322	15	formation	formation	NOUN
fcis-30626	322	16	control	control	NOUN
fcis-30626	322	17	of	of	ADP
fcis-30626	322	18	multiple	multiple	ADJ
fcis-30626	322	19	small	small	ADJ
fcis-30626	322	20	rotary	rotary	ADJ
fcis-30626	322	21	-	-	PUNCT
fcis-30626	322	22	wing	wing	NOUN
fcis-30626	322	23	uavs[c]//international	uavs[c]//international	ADJ
fcis-30626	322	24	design	design	NOUN
fcis-30626	322	25	engineering	engineering	NOUN
fcis-30626	322	26	technical	technical	ADJ
fcis-30626	322	27	conferences	conference	NOUN
fcis-30626	322	28	and	and	CCONJ
fcis-30626	322	29	computers	computer	NOUN
fcis-30626	322	30	and	and	CCONJ
fcis-30626	322	31	information	information	NOUN
fcis-30626	322	32	in	in	ADP
fcis-30626	322	33	engineering	engineering	NOUN
fcis-30626	322	34	conference	conference	NOUN
fcis-30626	322	35	.	.	PUNCT
fcis-30626	323	1	2011	2011	NUM
fcis-30626	323	2	,	,	PUNCT
fcis-30626	323	3	54808	54808	NUM
fcis-30626	323	4	:	:	PUNCT
fcis-30626	323	5	909	909	NUM
fcis-30626	323	6	-	-	SYM
fcis-30626	323	7	916	916	NUM
fcis-30626	323	8	.	.	PUNCT
fcis-30626	324	1	[	[	X
fcis-30626	324	2	29	29	NUM
fcis-30626	324	3	]	]	X
fcis-30626	324	4	kuriki	kuriki	PROPN
fcis-30626	324	5	y	y	PROPN
fcis-30626	324	6	,	,	PUNCT
fcis-30626	324	7	namerikawa	namerikawa	PROPN
fcis-30626	324	8	t.	t.	PROPN
fcis-30626	324	9	consensus	consensus	PROPN
fcis-30626	324	10	-	-	PUNCT
fcis-30626	324	11	based	base	VERB
fcis-30626	324	12	cooperative	cooperative	ADJ
fcis-30626	324	13	formation	formation	NOUN
fcis-30626	324	14	control	control	NOUN
fcis-30626	324	15	with	with	ADP
fcis-30626	324	16	collision	collision	NOUN
fcis-30626	324	17	avoidance	avoidance	NOUN
fcis-30626	324	18	for	for	ADP
fcis-30626	324	19	a	a	DET
fcis-30626	324	20	multi	multi	ADJ
fcis-30626	324	21	-	-	ADJ
fcis-30626	324	22	uav	uav	ADJ
fcis-30626	324	23	system[c]//2014	system[c]//2014	PROPN
fcis-30626	324	24	american	american	PROPN
fcis-30626	324	25	control	control	PROPN
fcis-30626	324	26	conference	conference	PROPN
fcis-30626	324	27	.	.	PUNCT
fcis-30626	325	1	ieee	ieee	PROPN
fcis-30626	325	2	,	,	PUNCT
fcis-30626	325	3	2014	2014	NUM
fcis-30626	325	4	:	:	PUNCT
fcis-30626	325	5	2077	2077	NUM
fcis-30626	325	6	-	-	SYM
fcis-30626	325	7	2082	2082	NUM
fcis-30626	325	8	.	.	PUNCT
fcis-30626	326	1	[	[	X
fcis-30626	326	2	30	30	NUM
fcis-30626	326	3	]	]	X
fcis-30626	326	4	yuan	yuan	NOUN
fcis-30626	326	5	d	d	PROPN
fcis-30626	326	6	,	,	PUNCT
fcis-30626	326	7	wang	wang	PROPN
fcis-30626	326	8	y.	y.	PROPN
fcis-30626	326	9	data	data	PROPN
fcis-30626	326	10	driven	drive	VERB
fcis-30626	326	11	model	model	NOUN
fcis-30626	326	12	-	-	PUNCT
fcis-30626	326	13	free	free	ADJ
fcis-30626	326	14	adaptive	adaptive	ADJ
fcis-30626	326	15	control	control	NOUN
fcis-30626	326	16	method	method	NOUN
fcis-30626	326	17	for	for	ADP
fcis-30626	326	18	quadrotor	quadrotor	NOUN
fcis-30626	326	19	formation	formation	NOUN
fcis-30626	326	20	trajectory	trajectory	NOUN
fcis-30626	326	21	tracking	tracking	NOUN
fcis-30626	326	22	based	base	VERB
fcis-30626	326	23	on	on	ADP
fcis-30626	326	24	rise	rise	NOUN
fcis-30626	326	25	and	and	CCONJ
fcis-30626	326	26	ismc	ismc	NOUN
fcis-30626	326	27	algorithm[j	algorithm[j	PROPN
fcis-30626	326	28	]	]	PUNCT
fcis-30626	326	29	.	.	PUNCT
fcis-30626	327	1	sensors	sensor	NOUN
fcis-30626	327	2	,	,	PUNCT
fcis-30626	327	3	2021	2021	NUM
fcis-30626	327	4	,	,	PUNCT
fcis-30626	327	5	21(4	21(4	NUM
fcis-30626	327	6	):	):	PUNCT
fcis-30626	327	7	1289	1289	NUM
fcis-30626	327	8	.	.	PUNCT
fcis-30626	328	1	[	[	X
fcis-30626	328	2	31	31	NUM
fcis-30626	328	3	]	]	PUNCT
fcis-30626	328	4	ranjan	ranjan	PROPN
fcis-30626	328	5	p	p	PROPN
fcis-30626	328	6	k	k	PROPN
fcis-30626	328	7	,	,	PUNCT
fcis-30626	328	8	sinha	sinha	PROPN
fcis-30626	328	9	a	a	PROPN
fcis-30626	328	10	,	,	PUNCT
fcis-30626	328	11	cao	cao	PROPN
fcis-30626	328	12	y	y	PROPN
fcis-30626	328	13	,	,	PUNCT
fcis-30626	328	14	et	et	PROPN
fcis-30626	328	15	al	al	PROPN
fcis-30626	328	16	.	.	PUNCT
fcis-30626	328	17	relational	relational	ADJ
fcis-30626	328	18	maneuvering	maneuvering	NOUN
fcis-30626	328	19	of	of	ADP
fcis-30626	328	20	leader	leader	NOUN
fcis-30626	328	21	-	-	PUNCT
fcis-30626	328	22	follower	follower	NOUN
fcis-30626	328	23	unmanned	unmanned	ADJ
fcis-30626	328	24	aerial	aerial	ADJ
fcis-30626	328	25	vehicles	vehicle	NOUN
fcis-30626	328	26	for	for	ADP
fcis-30626	328	27	flexible	flexible	ADJ
fcis-30626	328	28	formation[j	formation[j	NOUN
fcis-30626	328	29	]	]	X
fcis-30626	328	30	.	.	PUNCT
fcis-30626	329	1	ieee	ieee	NOUN
fcis-30626	329	2	transactions	transaction	NOUN
fcis-30626	329	3	on	on	ADP
fcis-30626	329	4	cybernetics	cybernetic	NOUN
fcis-30626	329	5	,	,	PUNCT
fcis-30626	329	6	2024	2024	NUM
fcis-30626	329	7	.	.	PUNCT
fcis-30626	330	1	[	[	X
fcis-30626	330	2	32	32	NUM
fcis-30626	330	3	]	]	X
fcis-30626	330	4	liu	liu	PROPN
fcis-30626	330	5	r	r	PROPN
fcis-30626	330	6	,	,	PUNCT
fcis-30626	330	7	qu	qu	PROPN
fcis-30626	330	8	b	b	PROPN
fcis-30626	330	9	,	,	PUNCT
fcis-30626	330	10	wei	wei	PROPN
fcis-30626	330	11	t	t	PROPN
fcis-30626	330	12	,	,	PUNCT
fcis-30626	330	13	et	et	PROPN
fcis-30626	330	14	al	al	PROPN
fcis-30626	330	15	.	.	PROPN
fcis-30626	330	16	research	research	PROPN
fcis-30626	330	17	on	on	ADP
fcis-30626	330	18	uav	uav	PROPN
fcis-30626	330	19	formation	formation	NOUN
fcis-30626	330	20	obstacle	obstacle	NOUN
fcis-30626	330	21	avoidance	avoidance	NOUN
fcis-30626	330	22	based	base	VERB
fcis-30626	330	23	on	on	ADP
fcis-30626	330	24	consistency	consistency	NOUN
fcis-30626	330	25	control[c]//2023	control[c]//2023	NUM
fcis-30626	330	26	ieee	ieee	NOUN
fcis-30626	330	27	12th	12th	NOUN
fcis-30626	330	28	data	data	PROPN
fcis-30626	330	29	driven	drive	VERB
fcis-30626	330	30	control	control	NOUN
fcis-30626	330	31	and	and	CCONJ
fcis-30626	330	32	learning	learn	VERB
fcis-30626	330	33	systems	system	NOUN
fcis-30626	330	34	conference	conference	NOUN
fcis-30626	330	35	(	(	PUNCT
fcis-30626	330	36	ddcls	ddcls	NOUN
fcis-30626	330	37	)	)	PUNCT
fcis-30626	330	38	.	.	PUNCT
fcis-30626	331	1	ieee	ieee	NOUN
fcis-30626	331	2	,	,	PUNCT
fcis-30626	331	3	2023	2023	NUM
fcis-30626	331	4	:	:	PUNCT
fcis-30626	331	5	155	155	NUM
fcis-30626	331	6	-	-	SYM
fcis-30626	331	7	160	160	NUM
fcis-30626	331	8	.	.	PUNCT
fcis-30626	332	1	[	[	X
fcis-30626	332	2	33	33	NUM
fcis-30626	332	3	]	]	X
fcis-30626	332	4	guo	guo	PROPN
fcis-30626	332	5	j	j	PROPN
fcis-30626	332	6	,	,	PUNCT
fcis-30626	332	7	qi	qi	PROPN
fcis-30626	332	8	j	j	PROPN
fcis-30626	332	9	,	,	PUNCT
fcis-30626	332	10	wang	wang	PROPN
fcis-30626	332	11	m	m	PROPN
fcis-30626	332	12	,	,	PUNCT
fcis-30626	332	13	et	et	PROPN
fcis-30626	332	14	al	al	PROPN
fcis-30626	332	15	.	.	PROPN
fcis-30626	333	1	distributed	distribute	VERB
fcis-30626	333	2	cooperative	cooperative	ADJ
fcis-30626	333	3	obstacle	obstacle	NOUN
fcis-30626	333	4	avoidance	avoidance	NOUN
fcis-30626	333	5	and	and	CCONJ
fcis-30626	333	6	formation	formation	NOUN
fcis-30626	333	7	reconfiguration	reconfiguration	NOUN
fcis-30626	333	8	for	for	ADP
fcis-30626	333	9	multiple	multiple	ADJ
fcis-30626	333	10	quadrotors	quadrotor	NOUN
fcis-30626	333	11	:	:	PUNCT
fcis-30626	333	12	theory	theory	NOUN
fcis-30626	333	13	and	and	CCONJ
fcis-30626	333	14	experiment[j	experiment[j	NOUN
fcis-30626	333	15	]	]	PUNCT
fcis-30626	333	16	.	.	PUNCT
fcis-30626	334	1	aerospace	aerospace	NOUN
fcis-30626	334	2	science	science	NOUN
fcis-30626	334	3	and	and	CCONJ
fcis-30626	334	4	technology	technology	NOUN
fcis-30626	334	5	,	,	PUNCT
fcis-30626	334	6	2023	2023	NUM
fcis-30626	334	7	,	,	PUNCT
fcis-30626	334	8	136	136	NUM
fcis-30626	334	9	:	:	SYM
fcis-30626	334	10	108218	108218	NUM
fcis-30626	334	11	.	.	PUNCT
fcis-30626	335	1	[	[	X
fcis-30626	335	2	34	34	NUM
fcis-30626	335	3	]	]	PUNCT
fcis-30626	335	4	song	song	NOUN
fcis-30626	335	5	s	s	PROPN
fcis-30626	335	6	,	,	PUNCT
fcis-30626	335	7	zhao	zhao	PROPN
fcis-30626	335	8	t	t	PROPN
fcis-30626	335	9	,	,	PUNCT
fcis-30626	335	10	zheng	zheng	PROPN
fcis-30626	335	11	j.	j.	PROPN
fcis-30626	335	12	research	research	PROPN
fcis-30626	335	13	on	on	ADP
fcis-30626	335	14	fault	fault	NOUN
fcis-30626	335	15	-	-	PUNCT
fcis-30626	335	16	tolerant	tolerant	ADJ
fcis-30626	335	17	algorithm	algorithm	NOUN
fcis-30626	335	18	for	for	ADP
fcis-30626	335	19	emergency	emergency	NOUN
fcis-30626	335	20	medical	medical	PROPN
fcis-30626	335	21	rescue	rescue	PROPN
fcis-30626	335	22	uav	uav	PROPN
fcis-30626	335	23	formation[c]//2020	formation[c]//2020	ADP
fcis-30626	335	24	ieee	ieee	PROPN
fcis-30626	335	25	international	international	ADJ
fcis-30626	335	26	conference	conference	NOUN
fcis-30626	335	27	on	on	ADP
fcis-30626	335	28	e	e	NOUN
fcis-30626	335	29	-	-	NOUN
fcis-30626	335	30	health	health	ADJ
fcis-30626	335	31	networking	networking	NOUN
fcis-30626	335	32	,	,	PUNCT
fcis-30626	335	33	application	application	NOUN
fcis-30626	335	34	&	&	CCONJ
fcis-30626	335	35	services	service	NOUN
fcis-30626	335	36	(	(	PUNCT
fcis-30626	335	37	healthcom	healthcom	PROPN
fcis-30626	335	38	)	)	PUNCT
fcis-30626	335	39	.	.	PUNCT
fcis-30626	336	1	ieee	ieee	PROPN
fcis-30626	336	2	,	,	PUNCT
fcis-30626	336	3	2021	2021	NUM
fcis-30626	336	4	:	:	PUNCT
fcis-30626	336	5	1	1	NUM
fcis-30626	336	6	-	-	SYM
fcis-30626	336	7	5	5	NUM
fcis-30626	336	8	.	.	PUNCT
fcis-30626	337	1	[	[	X
fcis-30626	337	2	35	35	NUM
fcis-30626	337	3	]	]	X
fcis-30626	337	4	zhen	zhen	NOUN
fcis-30626	337	5	r	r	PROPN
fcis-30626	337	6	,	,	PUNCT
fcis-30626	337	7	jin	jin	PROPN
fcis-30626	337	8	y	y	PROPN
fcis-30626	337	9	,	,	PUNCT
fcis-30626	337	10	wu	wu	PROPN
fcis-30626	337	11	x	x	PROPN
fcis-30626	337	12	,	,	PUNCT
fcis-30626	337	13	et	et	PROPN
fcis-30626	337	14	al	al	PROPN
fcis-30626	337	15	.	.	PROPN
fcis-30626	337	16	fault‐tolerant	fault‐tolerant	ADJ
fcis-30626	337	17	time‐varying	time‐varye	VERB
fcis-30626	337	18	formation	formation	NOUN
fcis-30626	337	19	tracking	tracking	NOUN
fcis-30626	337	20	control	control	NOUN
fcis-30626	337	21	for	for	ADP
fcis-30626	337	22	unmanned	unmanned	ADJ
fcis-30626	337	23	aerial	aerial	ADJ
fcis-30626	337	24	vehicle	vehicle	NOUN
fcis-30626	337	25	swarm	swarm	NOUN
fcis-30626	337	26	systems	system	NOUN
fcis-30626	337	27	with	with	ADP
fcis-30626	337	28	switching	switch	VERB
fcis-30626	337	29	topologies[j	topologies[j	NOUN
fcis-30626	337	30	]	]	PUNCT
fcis-30626	337	31	.	.	PUNCT
fcis-30626	338	1	mathematical	mathematical	ADJ
fcis-30626	338	2	problems	problem	NOUN
fcis-30626	338	3	in	in	ADP
fcis-30626	338	4	engineering	engineering	NOUN
fcis-30626	338	5	,	,	PUNCT
fcis-30626	338	6	2021	2021	NUM
fcis-30626	338	7	,	,	PUNCT
fcis-30626	338	8	2021(1	2021(1	NUM
fcis-30626	338	9	):	):	PUNCT
fcis-30626	338	10	5519243	5519243	NUM
fcis-30626	338	11	.	.	PUNCT
fcis-30626	339	1	[	[	X
fcis-30626	339	2	36	36	NUM
fcis-30626	339	3	]	]	X
fcis-30626	339	4	hua	hua	PROPN
fcis-30626	339	5	l	l	PROPN
fcis-30626	339	6	,	,	PUNCT
fcis-30626	339	7	zhang	zhang	PROPN
fcis-30626	339	8	j	j	PROPN
fcis-30626	339	9	,	,	PUNCT
fcis-30626	339	10	li	li	PROPN
fcis-30626	339	11	d	d	PROPN
fcis-30626	339	12	,	,	PUNCT
fcis-30626	339	13	et	et	PROPN
fcis-30626	339	14	al	al	PROPN
fcis-30626	339	15	.	.	PUNCT
fcis-30626	340	1	fault	fault	NOUN
fcis-30626	340	2	-	-	PUNCT
fcis-30626	340	3	tolerant	tolerant	ADJ
fcis-30626	340	4	active	active	ADJ
fcis-30626	340	5	disturbance	disturbance	NOUN
fcis-30626	340	6	rejection	rejection	NOUN
fcis-30626	340	7	control	control	NOUN
fcis-30626	340	8	of	of	ADP
fcis-30626	340	9	plant	plant	NOUN
fcis-30626	340	10	protection	protection	NOUN
fcis-30626	340	11	of	of	ADP
fcis-30626	340	12	unmanned	unmanned	ADJ
fcis-30626	340	13	aerial	aerial	ADJ
fcis-30626	340	14	vehicles	vehicle	NOUN
fcis-30626	340	15	based	base	VERB
fcis-30626	340	16	on	on	ADP
fcis-30626	340	17	a	a	DET
fcis-30626	340	18	spatio	spatio	NOUN
fcis-30626	340	19	-	-	PUNCT
fcis-30626	340	20	temporal	temporal	ADJ
fcis-30626	340	21	rbf	rbf	PROPN
fcis-30626	340	22	neural	neural	PROPN
fcis-30626	340	23	network[j	network[j	PROPN
fcis-30626	340	24	]	]	PUNCT
fcis-30626	340	25	.	.	PUNCT
fcis-30626	341	1	applied	apply	VERB
fcis-30626	341	2	sciences	science	NOUN
fcis-30626	341	3	,	,	PUNCT
fcis-30626	341	4	2021	2021	NUM
fcis-30626	341	5	,	,	PUNCT
fcis-30626	341	6	11(9	11(9	NUM
fcis-30626	341	7	):	):	PUNCT
fcis-30626	341	8	4084	4084	NUM
fcis-30626	341	9	.	.	PUNCT
fcis-30626	342	1	[	[	X
fcis-30626	342	2	37	37	NUM
fcis-30626	342	3	]	]	X
fcis-30626	342	4	xiang	xiang	PROPN
fcis-30626	342	5	x	x	PROPN
fcis-30626	342	6	,	,	PUNCT
fcis-30626	342	7	liu	liu	PROPN
fcis-30626	342	8	c	c	PROPN
fcis-30626	342	9	,	,	PUNCT
fcis-30626	342	10	su	su	PROPN
fcis-30626	342	11	h	h	PROPN
fcis-30626	342	12	,	,	PUNCT
fcis-30626	342	13	et	et	PROPN
fcis-30626	342	14	al	al	PROPN
fcis-30626	342	15	.	.	PROPN
fcis-30626	343	1	on	on	ADP
fcis-30626	343	2	decentralized	decentralize	VERB
fcis-30626	343	3	adaptive	adaptive	ADJ
fcis-30626	343	4	fullorder	fullorder	NOUN
fcis-30626	343	5	sliding	slide	VERB
fcis-30626	343	6	mode	mode	NOUN
fcis-30626	343	7	control	control	NOUN
fcis-30626	343	8	of	of	ADP
fcis-30626	343	9	multiple	multiple	ADJ
fcis-30626	343	10	uavs[j	uavs[j	PROPN
fcis-30626	343	11	]	]	PUNCT
fcis-30626	343	12	.	.	PUNCT
fcis-30626	344	1	isa	isa	NOUN
fcis-30626	344	2	transactions	transaction	NOUN
fcis-30626	344	3	,	,	PUNCT
fcis-30626	344	4	2017	2017	NUM
fcis-30626	344	5	,	,	PUNCT
fcis-30626	344	6	71	71	NUM
fcis-30626	344	7	:	:	SYM
fcis-30626	344	8	196	196	NUM
fcis-30626	344	9	-	-	SYM
fcis-30626	344	10	205	205	NUM
fcis-30626	344	11	.	.	PUNCT
fcis-30626	345	1	[	[	X
fcis-30626	345	2	38	38	NUM
fcis-30626	345	3	]	]	X
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fcis-30626	345	5	y	y	PROPN
fcis-30626	345	6	,	,	PUNCT
fcis-30626	345	7	sun	sun	PROPN
fcis-30626	345	8	y	y	PROPN
fcis-30626	345	9	,	,	PUNCT
fcis-30626	345	10	shi	shi	PROPN
fcis-30626	345	11	p.	p.	PROPN
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fcis-30626	345	13	hierarchical	hierarchical	ADJ
fcis-30626	345	14	formation	formation	NOUN
fcis-30626	345	15	control	control	NOUN
fcis-30626	345	16	of	of	ADP
fcis-30626	345	17	unmanned	unmanned	ADJ
fcis-30626	345	18	aerial	aerial	ADJ
fcis-30626	345	19	vehicles	vehicle	NOUN
fcis-30626	345	20	via	via	ADP
fcis-30626	345	21	neural	neural	ADV
fcis-30626	345	22	-	-	PUNCT
fcis-30626	345	23	based	base	VERB
fcis-30626	345	24	observers[j	observers[j	NOUN
fcis-30626	345	25	]	]	PUNCT
fcis-30626	345	26	.	.	PUNCT
fcis-30626	346	1	drones	drone	NOUN
fcis-30626	346	2	,	,	PUNCT
fcis-30626	346	3	2022	2022	NUM
fcis-30626	346	4	,	,	PUNCT
fcis-30626	346	5	6(2	6(2	NUM
fcis-30626	346	6	):	):	PUNCT
fcis-30626	346	7	40	40	NUM
fcis-30626	346	8	.	.	PUNCT
fcis-30626	347	1	[	[	X
fcis-30626	347	2	39	39	NUM
fcis-30626	347	3	]	]	PUNCT
fcis-30626	347	4	liu	liu	PROPN
fcis-30626	347	5	z	z	PROPN
fcis-30626	347	6	,	,	PUNCT
fcis-30626	347	7	huang	huang	PROPN
fcis-30626	347	8	d	d	PROPN
fcis-30626	347	9	,	,	PUNCT
fcis-30626	347	10	li	li	PROPN
fcis-30626	347	11	s	s	PROPN
fcis-30626	347	12	,	,	PUNCT
fcis-30626	347	13	et	et	PROPN
fcis-30626	347	14	al	al	PROPN
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fcis-30626	347	17	robust	robust	ADJ
fcis-30626	347	18	control	control	NOUN
fcis-30626	347	19	of	of	ADP
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fcis-30626	347	21	uav	uav	PROPN
fcis-30626	347	22	-	-	PUNCT
fcis-30626	347	23	usv	usv	ADJ
fcis-30626	347	24	heterogeneous	heterogeneous	ADJ
fcis-30626	347	25	system	system	NOUN
fcis-30626	347	26	with	with	ADP
fcis-30626	347	27	unknown	unknown	ADJ
fcis-30626	347	28	fractionalorder	fractionalorder	NOUN
fcis-30626	347	29	dynamics	dynamic	NOUN
fcis-30626	347	30	under	under	ADP
fcis-30626	347	31	multiple	multiple	ADJ
fcis-30626	347	32	disturbances[c]//2023	disturbances[c]//2023	PROPN
fcis-30626	347	33	42nd	42nd	PROPN
fcis-30626	347	34	chinese	chinese	PROPN
fcis-30626	347	35	control	control	PROPN
fcis-30626	347	36	conference	conference	PROPN
fcis-30626	347	37	(	(	PUNCT
fcis-30626	347	38	ccc	ccc	PROPN
fcis-30626	347	39	)	)	PUNCT
fcis-30626	347	40	.	.	PUNCT
fcis-30626	348	1	ieee	ieee	NOUN
fcis-30626	348	2	,	,	PUNCT
fcis-30626	348	3	2023	2023	NUM
fcis-30626	348	4	:	:	PUNCT
fcis-30626	348	5	5872	5872	NUM
fcis-30626	348	6	-	-	SYM
fcis-30626	348	7	5877	5877	NUM
fcis-30626	348	8	.	.	PUNCT
fcis-30626	349	1	[	[	X
fcis-30626	349	2	40	40	NUM
fcis-30626	349	3	]	]	PUNCT
fcis-30626	349	4	yang	yang	PROPN
fcis-30626	349	5	s	s	PROPN
fcis-30626	349	6	,	,	PUNCT
fcis-30626	349	7	yu	yu	PROPN
fcis-30626	349	8	w	w	PROPN
fcis-30626	349	9	,	,	PUNCT
fcis-30626	349	10	liu	liu	PROPN
fcis-30626	349	11	z	z	PROPN
fcis-30626	349	12	,	,	PUNCT
fcis-30626	349	13	et	et	PROPN
fcis-30626	349	14	al	al	PROPN
fcis-30626	349	15	.	.	PUNCT
fcis-30626	350	1	a	a	DET
fcis-30626	350	2	robust	robust	ADJ
fcis-30626	350	3	hybrid	hybrid	ADJ
fcis-30626	350	4	iterative	iterative	NOUN
fcis-30626	350	5	learning	learn	VERB
fcis-30626	350	6	formation	formation	NOUN
fcis-30626	350	7	strategy	strategy	NOUN
fcis-30626	350	8	for	for	ADP
fcis-30626	350	9	multi	multi	ADJ
fcis-30626	350	10	-	-	ADJ
fcis-30626	350	11	unmanned	unmanned	ADJ
fcis-30626	350	12	aerial	aerial	ADJ
fcis-30626	350	13	vehicle	vehicle	NOUN
fcis-30626	350	14	systems	system	NOUN
fcis-30626	350	15	with	with	ADP
fcis-30626	350	16	multi	multi	ADJ
fcis-30626	350	17	-	-	ADJ
fcis-30626	350	18	operating	operate	VERB
fcis-30626	350	19	modes[j	modes[j	NOUN
fcis-30626	350	20	]	]	PUNCT
fcis-30626	350	21	.	.	PUNCT
fcis-30626	351	1	drones	drone	NOUN
fcis-30626	351	2	,	,	PUNCT
fcis-30626	351	3	2024	2024	NUM
fcis-30626	351	4	,	,	PUNCT
fcis-30626	351	5	8(8	8(8	NUM
fcis-30626	351	6	):	):	PUNCT
fcis-30626	351	7	406	406	NUM
fcis-30626	351	8	.	.	NOUN
fcis-30626	351	9	164	164	NUM
fcis-30626	352	1	[	[	X
fcis-30626	352	2	41	41	NUM
fcis-30626	352	3	]	]	PUNCT
fcis-30626	352	4	raffo	raffo	NOUN
fcis-30626	352	5	g	g	PROPN
fcis-30626	352	6	v	v	NOUN
fcis-30626	352	7	,	,	PUNCT
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fcis-30626	352	9	almeida	almeida	PROPN
fcis-30626	352	10	m	m	PROPN
fcis-30626	352	11	m.	m.	PROPN
fcis-30626	352	12	nonlinear	nonlinear	PROPN
fcis-30626	352	13	robust	robust	ADJ
fcis-30626	352	14	control	control	NOUN
fcis-30626	352	15	of	of	ADP
fcis-30626	352	16	a	a	DET
fcis-30626	352	17	quadrotor	quadrotor	NOUN
fcis-30626	352	18	uav	uav	PROPN
fcis-30626	352	19	for	for	ADP
fcis-30626	352	20	load	load	NOUN
fcis-30626	352	21	transportation	transportation	NOUN
fcis-30626	352	22	with	with	ADP
fcis-30626	352	23	swing	swing	NOUN
fcis-30626	352	24	improvement	improvement	NOUN
fcis-30626	352	25	[	[	X
fcis-30626	352	26	c]//2016	c]//2016	PROPN
fcis-30626	352	27	american	american	PROPN
fcis-30626	352	28	control	control	PROPN
fcis-30626	352	29	conference	conference	PROPN
fcis-30626	352	30	(	(	PUNCT
fcis-30626	352	31	acc	acc	PROPN
fcis-30626	352	32	)	)	PUNCT
fcis-30626	352	33	.	.	PUNCT
fcis-30626	353	1	ieee	ieee	PROPN
fcis-30626	353	2	,	,	PUNCT
fcis-30626	353	3	2016	2016	NUM
fcis-30626	353	4	:	:	PUNCT
fcis-30626	353	5	3156	3156	NUM
fcis-30626	353	6	-	-	SYM
fcis-30626	353	7	3162	3162	NUM
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fcis-30626	354	14	-	-	ADJ
fcis-30626	354	15	rotor	rotor	ADJ
fcis-30626	354	16	drones	drone	NOUN
fcis-30626	354	17	using	use	VERB
fcis-30626	354	18	robust	robust	ADJ
fcis-30626	354	19	feedback	feedback	NOUN
fcis-30626	354	20	linearization[c]//2018	linearization[c]//2018	PROPN
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fcis-30626	354	22	12th	12th	ADJ
fcis-30626	354	23	international	international	ADJ
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fcis-30626	354	26	control	control	NOUN
fcis-30626	354	27	(	(	PUNCT
fcis-30626	354	28	control	control	NOUN
fcis-30626	354	29	)	)	PUNCT
fcis-30626	354	30	.	.	PUNCT
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fcis-30626	355	2	,	,	PUNCT
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fcis-30626	355	5	347	347	NUM
fcis-30626	355	6	-	-	SYM
fcis-30626	355	7	352	352	NUM
fcis-30626	355	8	.	.	PUNCT
fcis-30626	356	1	[	[	X
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fcis-30626	357	6	formation	formation	NOUN
fcis-30626	357	7	control	control	NOUN
fcis-30626	357	8	for	for	ADP
fcis-30626	357	9	uav	uav	PROPN
fcis-30626	357	10	-	-	PUNCT
fcis-30626	357	11	usvs	usvs	NOUN
fcis-30626	357	12	with	with	ADP
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fcis-30626	357	15	]	]	PUNCT
fcis-30626	357	16	.	.	PUNCT
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fcis-30626	358	9	,	,	PUNCT
fcis-30626	358	10	12(6	12(6	NUM
fcis-30626	358	11	):	):	PUNCT
fcis-30626	358	12	975	975	NUM
fcis-30626	358	13	.	.	PUNCT
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fcis-30626	359	2	44	44	NUM
fcis-30626	359	3	]	]	X
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fcis-30626	359	6	,	,	PUNCT
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fcis-30626	359	19	control	control	NOUN
fcis-30626	359	20	for	for	ADP
fcis-30626	359	21	unmanned	unmanned	ADJ
fcis-30626	359	22	aerial	aerial	ADJ
fcis-30626	359	23	vehicles	vehicle	NOUN
fcis-30626	359	24	and	and	CCONJ
fcis-30626	359	25	vehicle	vehicle	NOUN
fcis-30626	359	26	platoon	platoon	NOUN
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fcis-30626	360	2	&	&	CCONJ
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fcis-30626	360	7	4(3	4(3	NUM
fcis-30626	360	8	):	):	PUNCT
fcis-30626	360	9	293317	293317	NUM
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fcis-30626	362	5	for	for	ADP
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fcis-30626	362	8	uav	uav	ADJ
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fcis-30626	362	10	systems[c]//2024	systems[c]//2024	NUM
fcis-30626	362	11	14th	14th	ADJ
fcis-30626	362	12	asian	asian	ADJ
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fcis-30626	362	14	conference	conference	NOUN
fcis-30626	362	15	(	(	PUNCT
fcis-30626	362	16	ascc	ascc	NOUN
fcis-30626	362	17	)	)	PUNCT
fcis-30626	362	18	.	.	PUNCT
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fcis-30626	363	4	:	:	PUNCT
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fcis-30626	363	6	-	-	SYM
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fcis-30626	363	8	.	.	PUNCT
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fcis-30626	364	14	via	via	ADP
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fcis-30626	364	17	integral	integral	ADJ
fcis-30626	364	18	sliding	slide	VERB
fcis-30626	364	19	mode	mode	NOUN
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fcis-30626	365	5	,	,	PUNCT
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fcis-30626	365	7	,	,	PUNCT
fcis-30626	365	8	81	81	NUM
fcis-30626	365	9	:	:	SYM
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fcis-30626	365	11	-	-	SYM
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fcis-30626	365	13	.	.	PUNCT
fcis-30626	366	1	[	[	X
fcis-30626	366	2	47	47	NUM
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fcis-30626	366	27	control	control	NOUN
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fcis-30626	366	30	-	-	ADJ
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fcis-30626	377	10	underwater	underwater	ADJ
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fcis-30626	379	33	filtered	filter	VERB
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fcis-30626	379	35	technique	technique	NOUN
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fcis-30626	379	39	]	]	PUNCT
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fcis-30626	381	3	]	]	PUNCT
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fcis-30626	382	6	schedule	schedule	NOUN
fcis-30626	382	7	for	for	ADP
fcis-30626	382	8	remote	remote	ADJ
fcis-30626	382	9	state	state	NOUN
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fcis-30626	382	14	]	]	PUNCT
fcis-30626	382	15	.	.	PUNCT
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fcis-30626	383	2	,	,	PUNCT
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fcis-30626	383	4	,	,	PUNCT
fcis-30626	383	5	78	78	NUM
fcis-30626	383	6	:	:	SYM
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fcis-30626	383	8	-	-	SYM
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fcis-30626	384	1	[	[	X
fcis-30626	384	2	54	54	NUM
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fcis-30626	384	4	wang	wang	PROPN
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fcis-30626	384	19	control	control	NOUN
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fcis-30626	384	22	-	-	ADJ
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fcis-30626	384	24	systems	system	NOUN
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fcis-30626	384	28	attacks	attack	NOUN
fcis-30626	384	29	using	use	VERB
fcis-30626	384	30	complex	complex	ADJ
fcis-30626	384	31	laplacian[j	laplacian[j	PROPN
fcis-30626	384	32	]	]	PUNCT
fcis-30626	384	33	.	.	PUNCT
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fcis-30626	384	36	,	,	PUNCT
fcis-30626	384	37	2022	2022	NUM
fcis-30626	384	38	,	,	PUNCT
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fcis-30626	384	40	:	:	SYM
fcis-30626	384	41	10	10	NUM
fcis-30626	384	42	-	-	SYM
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fcis-30626	384	44	.	.	PUNCT
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fcis-30626	385	3	]	]	SYM
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fcis-30626	385	5	k	k	PROPN
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fcis-30626	385	9	,	,	PUNCT
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fcis-30626	385	16	systems	system	NOUN
fcis-30626	385	17	subject	subject	ADJ
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fcis-30626	385	22	-	-	PUNCT
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fcis-30626	385	25	]	]	PUNCT
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fcis-30626	386	8	:	:	PUNCT
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fcis-30626	386	11	,	,	PUNCT
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fcis-30626	386	13	,	,	PUNCT
fcis-30626	386	14	69(8	69(8	ADV
fcis-30626	386	15	):	):	PUNCT
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fcis-30626	386	17	-	-	SYM
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fcis-30626	386	19	.	.	PUNCT
fcis-30626	387	1	[	[	X
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fcis-30626	387	17	formation	formation	NOUN
fcis-30626	387	18	control	control	NOUN
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fcis-30626	387	21	multi‐agent	multi‐agent	PROPN
fcis-30626	387	22	cyber‐physical	cyber‐physical	ADJ
fcis-30626	387	23	systems	system	NOUN
fcis-30626	387	24	under	under	ADP
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fcis-30626	387	28	faults[j	faults[j	PROPN
fcis-30626	387	29	]	]	PUNCT
fcis-30626	387	30	.	.	PUNCT
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fcis-30626	388	7	control	control	NOUN
fcis-30626	388	8	,	,	PUNCT
fcis-30626	388	9	2023	2023	NUM
fcis-30626	388	10	,	,	PUNCT
fcis-30626	388	11	33(6	33(6	NUM
fcis-30626	388	12	):	):	PUNCT
fcis-30626	388	13	3607	3607	NUM
fcis-30626	388	14	-	-	SYM
fcis-30626	388	15	3626	3626	NUM
fcis-30626	388	16	.	.	PUNCT
fcis-30626	389	1	[	[	X
fcis-30626	389	2	57	57	NUM
fcis-30626	389	3	]	]	X
fcis-30626	389	4	zheng	zheng	PROPN
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fcis-30626	389	9	,	,	PUNCT
fcis-30626	389	10	huang	huang	PROPN
fcis-30626	389	11	b	b	PROPN
fcis-30626	389	12	,	,	PUNCT
fcis-30626	389	13	et	et	PROPN
fcis-30626	389	14	al	al	PROPN
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fcis-30626	389	17	secure	secure	ADJ
fcis-30626	389	18	formation	formation	NOUN
fcis-30626	389	19	control	control	NOUN
fcis-30626	389	20	for	for	ADP
fcis-30626	389	21	autonomous	autonomous	ADJ
fcis-30626	389	22	surface	surface	NOUN
fcis-30626	389	23	vessels	vessel	NOUN
fcis-30626	389	24	by	by	ADP
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fcis-30626	389	26	adjustable	adjustable	ADJ
fcis-30626	389	27	event‐triggered	event‐triggere	VERB
fcis-30626	389	28	mechanism[j	mechanism[j	PROPN
fcis-30626	389	29	]	]	PUNCT
fcis-30626	389	30	.	.	PUNCT
fcis-30626	390	1	international	international	ADJ
fcis-30626	390	2	journal	journal	PROPN
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fcis-30626	390	4	robust	robust	ADJ
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fcis-30626	390	7	control	control	NOUN
fcis-30626	390	8	,	,	PUNCT
fcis-30626	390	9	2023	2023	NUM
fcis-30626	390	10	,	,	PUNCT
fcis-30626	390	11	33(14	33(14	NUM
fcis-30626	390	12	):	):	PUNCT
fcis-30626	390	13	8490	8490	NUM
fcis-30626	390	14	-	-	SYM
fcis-30626	390	15	8507	8507	NUM
fcis-30626	390	16	.	.	PUNCT
fcis-30626	391	1	[	[	X
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fcis-30626	392	3	generation	generation	NOUN
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fcis-30626	392	6	-	-	PUNCT
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fcis-30626	392	12	.	.	PUNCT
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fcis-30626	393	5	,	,	PUNCT
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fcis-30626	393	9	:	:	SYM
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fcis-30626	393	11	-	-	SYM
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fcis-30626	393	13	.	.	PUNCT
fcis-30626	394	1	[	[	X
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fcis-30626	394	23	-	-	PUNCT
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fcis-30626	394	28	attacks[j	attacks[j	PROPN
fcis-30626	394	29	]	]	PUNCT
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fcis-30626	395	9	:	:	SYM
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fcis-30626	395	11	.	.	PUNCT
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fcis-30626	396	27	trajectories[j	trajectories[j	NOUN
fcis-30626	396	28	]	]	PUNCT
fcis-30626	396	29	.	.	PUNCT
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fcis-30626	397	10	,	,	PUNCT
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fcis-30626	397	14	-	-	SYM
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fcis-30626	398	1	[	[	X
fcis-30626	398	2	61	61	NUM
fcis-30626	398	3	]	]	PUNCT
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fcis-30626	398	18	]	]	X
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fcis-30626	400	1	[	[	X
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fcis-30626	400	18	as	as	SCONJ
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fcis-30626	400	20	relay	relay	NOUN
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fcis-30626	400	23	ground	ground	NOUN
fcis-30626	400	24	-	-	PUNCT
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fcis-30626	400	29	]	]	PUNCT
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fcis-30626	401	3	2020	2020	NUM
fcis-30626	401	4	,	,	PUNCT
fcis-30626	401	5	20(8	20(8	NUM
fcis-30626	401	6	):	):	PUNCT
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fcis-30626	402	3	]	]	X
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fcis-30626	402	8	g	g	PROPN
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fcis-30626	402	11	w.	w.	PROPN
fcis-30626	402	12	power	power	PROPN
fcis-30626	402	13	control	control	PROPN
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fcis-30626	402	22	-	-	PUNCT
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fcis-30626	402	24	networks[j	networks[j	PROPN
fcis-30626	402	25	]	]	X
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fcis-30626	403	2	,	,	PUNCT
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fcis-30626	403	6	):	):	PUNCT
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fcis-30626	404	3	]	]	PUNCT
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fcis-30626	405	1	[	[	X
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fcis-30626	405	3	]	]	X
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fcis-30626	406	2	,	,	PUNCT
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fcis-30626	406	10	):	):	PUNCT
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fcis-30626	409	5	mec	mec	PROPN
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fcis-30626	409	7	under	under	ADP
fcis-30626	409	8	channel	channel	NOUN
fcis-30626	409	9	access	access	NOUN
fcis-30626	409	10	attacks	attack	NOUN
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fcis-30626	409	12	a	a	DET
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fcis-30626	410	5	1	1	NUM
fcis-30626	410	6	-	-	SYM
fcis-30626	410	7	6	6	NUM
fcis-30626	410	8	.	.	PUNCT
fcis-30626	411	1	[	[	X
fcis-30626	411	2	66	66	NUM
fcis-30626	411	3	]	]	PUNCT
fcis-30626	411	4	suo	suo	PROPN
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fcis-30626	411	31	]	]	PUNCT
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fcis-30626	412	7	):	):	PUNCT
fcis-30626	412	8	535	535	NUM
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fcis-30626	413	3	]	]	X
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fcis-30626	413	19	model	model	NOUN
fcis-30626	413	20	for	for	ADP
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fcis-30626	413	22	-	-	NOUN
fcis-30626	413	23	uav	uav	PROPN
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fcis-30626	413	28	]	]	PUNCT
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fcis-30626	415	1	[	[	X
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fcis-30626	415	3	]	]	X
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fcis-30626	415	18	solution	solution	NOUN
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fcis-30626	415	30	]	]	PUNCT
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fcis-30626	416	8	,	,	PUNCT
fcis-30626	416	9	10(21	10(21	NUM
fcis-30626	416	10	):	):	PUNCT
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fcis-30626	416	12	-	-	SYM
fcis-30626	416	13	18897	18897	NUM
fcis-30626	416	14	.	.	PUNCT