@article{6,
  author = {Mohammad Basiri and Mohammad Pirani and Nasser Azad and Sebastian Fischmeister},
  title = {Security-aware optimal actuator placement in vehicle platooning},
  abstract = {<p>Vehicle platooning, as a large class of cyber-physical<br />
systems, is prone to be under the risk of cyber attacks. One (or more)<br />
external intelligent intruder(s) might attack one (or more) of the vehicles<br />
participating in a platoon. This paper proposes a general approach to find<br />
an optimal actuator placement strategy according to the Stackelberg game<br />
between the attacker and the defender. The game payoff is the energy needed<br />
by the attacker to steer the consensus follower-leader dynamics of the<br />
system towards his desired direction. The attacker tries to minimize this<br />
energy while the defender attempts to maximize it. Thus, based on the<br />
defined game and its optimal equilibrium point, the defender(s) selects<br />
optimal actuator placement action to face the attacker(s). Both cases of<br />
single attacker-single defender and multiple attackers-multiple defenders<br />
cases are investigated. Furthermore, we study the effects of different<br />
information flow topologies, namely, the unidirectional and bidirectional<br />
data transfer structures. Besides, the impacts of increasing the<br />
connectivity among the nodes on the security level of the platoon are<br />
presented. Simulation results for h-nearest neighbor platoon formations<br />
along with experimental results using the scaled cars governed by robotic<br />
operating system (ROS) verify the effectiveness of the method.</p>
},
  year = {2021},
  journal = {Asian Journal Of Control},
  doi = {10.1002/asjc.2567},
}