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Article summary:

1. Multiagent systems (MASs) are distributed systems with two or more intelligent agents.

2. Formation control is a significant control technique of MASs and widely used in various fields, such as robots, spacecrafts, satellites, and unmanned vehicles.

3. There is a relatively small body of literature that is concerned with security problems in formation control on MASs for unmanned attack on surface and underwater.

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