A critical comparative evaluation on DHT-based peer-to-peer search algorithms
Journal article
Betts, Alexander, Liu, Lu, Li, Zhiyuan and Antonopoulos, Nikolaos 2014. A critical comparative evaluation on DHT-based peer-to-peer search algorithms. International Journal of Embedded Systems. https://doi.org/10.1504/IJES.2014.063823
| Authors | Betts, Alexander, Liu, Lu, Li, Zhiyuan and Antonopoulos, Nikolaos |
|---|---|
| Abstract | Peer-to-peer networks are becoming increasingly popular as a method of creating highly scalable and robust distributed systems. To address performance issues when scaling traditional unstructured protocols to large network sizes many protocols have been proposed which make use of distributed hash tables to provide a decentralised and robust routing table. This paper investigates the most significant structured distributed hash table (DHT) protocols through a comparative literature review and critical analysis of results from controlled simulations. This paper discovers several key design differences, resulting in pastry performing best in every test. Chord performs worst, mostly attributed to its unidirectional distance metric, while significant generation of maintenance messages hold Kademila back in bandwidth tests. |
| Keywords | Peer-to-peer networks; Lookup protocols; Distributed scalable algorithms; Overlay routing |
| Year | 2014 |
| Journal | International Journal of Embedded Systems |
| Publisher | Inderscience Publishers |
| ISSN | 1741-1068 |
| 1741-1076 | |
| Digital Object Identifier (DOI) | https://doi.org/10.1504/IJES.2014.063823 |
| Web address (URL) | http://hdl.handle.net/10545/620885 |
| http://creativecommons.org/licenses/by-nc-nd/4.0/ | |
| hdl:10545/620885 | |
| Publication dates | 2014 |
| Publication process dates | |
| Deposited | 16 Nov 2016, 19:23 |
| Rights | Archived with thanks to International Journal of Embedded Systems |
| Contributors | University of Derby |
| File | File Access Level Open |
| File | File Access Level Open |
Permalink -
https://repository.derby.ac.uk/item/943yx/a-critical-comparative-evaluation-on-dht-based-peer-to-peer-search-algorithms
Download files
63
total views0
total downloads3
views this month0
downloads this month
Export as
Related outputs
Two-Level Dynamic Programming-Enabled Non-Metric Data Aggregation Technique for the Internet of Things
Jan, S.R., Ghaleb, B., Tariq, U.U., Ali, H., Sabrina, F. and Liu, L. 2024. Two-Level Dynamic Programming-Enabled Non-Metric Data Aggregation Technique for the Internet of Things. Electronics. 13 (9), pp. 1-17. https://doi.org/10.3390/electronics13091651
NOTRINO: a NOvel hybrid TRust management scheme for INternet-Of-vehicles
Ahmad, F., Kurugollu, Fatih, Kerrache, Chaker Abdelaziz, Sezer, Sakir and Liu, Lu 2021. NOTRINO: a NOvel hybrid TRust management scheme for INternet-Of-vehicles. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/TVT.2021.3049189Energy-aware scheduling of streaming applications on edge-devices in IoT based healthcare
Tariq, Umair Ullah, Ali, Haider, Liu, Lu, Hardy, J., Kazim, M. and Ahmed, Waqar 2021. Energy-aware scheduling of streaming applications on edge-devices in IoT based healthcare. IEEE Transactions on Green Communications and Networking. https://doi.org/10.1109/tgcn.2021.3056479An experimental online judge system based on docker container for learning and teaching assistance
Yibo, Han, Zhang, Zheng, Yuan, Bo, Bi, Haixia, Shahzad, Mohammad Nasir and Liu, Lu 2020. An experimental online judge system based on docker container for learning and teaching assistance. IEEE. https://doi.org/10.1109/smartworld-uic-atc-scalcom-iop-sci.2019.00264A privacy-preserved probabilistic routing index model for decentralised online social networks
Yuan, Bo, Gu, Jiayan and Liu, Lu 2020. A privacy-preserved probabilistic routing index model for decentralised online social networks. IEEE. https://doi.org/10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00305Exploring network embedding for efficient message routing in opportunistic mobile social networks
Yuan, Bo, Anjum, Ashiq, Panneerselvam, J. and Liu, Lu 2020. Exploring network embedding for efficient message routing in opportunistic mobile social networks. IEEE. https://doi.org/10.1109/ICDMW.2019.00077An efficient evolutionary user interest community discovery model in dynamic social networks for internet of people
Jiang, Liang, Shi, Leilei, Lu, Liu, Yao, Jingjing, Yuan, Bo and Zheng, Yongjun 2019. An efficient evolutionary user interest community discovery model in dynamic social networks for internet of people. IEEE Internet of Things Journal. https://doi.org/10.1109/JIOT.2019.2893625Petri net-based methods for analyzing structural security in e-commerce business processes
Ding, Zhijun, Liu, Lu, Wang, Xiaoming, Crossley, Richard David, Yu, Wangyang and Wangyang, Yu 2018. Petri net-based methods for analyzing structural security in e-commerce business processes. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2018.04.090A GRU-based prediction framework for intelligent resource management at cloud data centres in the age of 5G
Lu, Yao, Liu, Lu, Panneerselvam, J., Yuan, Bo, Gu, Jiayan and Antonopoulos, Nick 2019. A GRU-based prediction framework for intelligent resource management at cloud data centres in the age of 5G. IEEE Transactions on Cognitive Communications and Networking. 6 (2), pp. 486-498. https://doi.org/10.1109/tccn.2019.2954388An inductive content-augmented network embedding model for edge artificial intelligence
Yuan, Bo, Panneerselvam, J., Liu, Lu, Antonopoulos, Nick and Lu, Yao 2019. An inductive content-augmented network embedding model for edge artificial intelligence. IEEE Transactions on Industrial Informatics. 15 (7), pp. 4295-4305. https://doi.org/10.1109/TII.2019.2902877A load-balancing mechanism for distributed SDN control plane using response time.
Cui, Jie, Lu, Qinghe, Zhong, Hong, Tian, Miaomiao and Liu, Lu 2018. A load-balancing mechanism for distributed SDN control plane using response time. IEEE Transactions on Network and Service Management. https://doi.org/10.1109/TNSM.2018.2876369Data aggregation with end-to-end confidentiality and integrity for large-scale wireless sensor networks.
Cui, Jie, Shao, Lili, Zhong, Hong, Xu, Yan and Liu, Lu 2017. Data aggregation with end-to-end confidentiality and integrity for large-scale wireless sensor networks. Peer-to-Peer Networking and Applications. https://doi.org/10.1007/s12083-017-0581-5Efficient service discovery in decentralized online social networks.
Yuan, Bo, Liu, Lu and Antonopoulos, Nikolaos 2017. Efficient service discovery in decentralized online social networks. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2017.04.022A novel multilevel index model for distributed service repositories.
Xu, Zhao, Wu, Yan, Miao, Dejun and Liu, Lu 2017. A novel multilevel index model for distributed service repositories. Tsinghua Science and Technology. https://doi.org/10.23919/TST.2017.7914199Link quality aware channel allocation for multichannel body sensor networks.
Gao, Weifeng, Zhao, Zhiwei, Min, Geyong, Cao, Yue, Duan, Hancong, Liu, Lu, Long, Yimiao and Yin, Guangqiang 2017. Link quality aware channel allocation for multichannel body sensor networks. Pervasive and Mobile Computing. https://doi.org/10.1016/j.pmcj.2017.02.004Public auditing with privacy protection in a multi-user model of cloud-assisted body sensor networks.
Li, Song, Cui, Jie, Zhong, Hong and Liu, Lu 2017. Public auditing with privacy protection in a multi-user model of cloud-assisted body sensor networks. Sensors. https://doi.org/10.3390/s17051032Performance formula-based optimal deployments of multilevel indices for service retrieval.
Wu, Yan, Xu, Wei, Liu, Lu and Miao, Dejun 2017. Performance formula-based optimal deployments of multilevel indices for service retrieval. Concurrency and Computation: Practice and Experience. https://doi.org/10.1002/cpe.4265Conditional privacy-preserving authentication using registration list in vehicular ad hoc networks.
Zhong, Hong, Huang, Bo, Cui, Jie, Xu, Yan and Liu, Lu 2017. Conditional privacy-preserving authentication using registration list in vehicular ad hoc networks. IEEE Access. https://doi.org/10.1109/ACCESS.2017.2782672Energy-aware composition for wireless sensor networks as a service.
Zhou, Zhangbing, Zhao, Deng, Liu, Lu and Hung, Patrick C. K. 2017. Energy-aware composition for wireless sensor networks as a service. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2017.02.050A framework for orchestrating secure and dynamic access of IoT services in multi-cloud environments.
Kazim, M., Liu, Lu, Zhu, Shao Ying and Zheng, Yongjun 2018. A framework for orchestrating secure and dynamic access of IoT services in multi-cloud environments. IEEE Access. https://doi.org/10.1109/ACCESS.2018.2873812Man-In-The-Middle attacks in Vehicular Ad-Hoc Networks: Evaluating the impact of attackers’ strategies.
Ahmad, F., Adnane, Asma, Franqueira, Virginia N. L., Kurugollu, Fatih and Liu, Lu 2018. Man-In-The-Middle attacks in Vehicular Ad-Hoc Networks: Evaluating the impact of attackers’ strategies. Sensors. 18 (11), p. 4040. https://doi.org/10.3390/s18114040An investigation into the impacts of task-level behavioural heterogeneity upon energy efficiency in Cloud datacentres.
Panneerselvam, J., Liu, Lu, Lu, Yao and Antonopoulos, Nikolaos 2018. An investigation into the impacts of task-level behavioural heterogeneity upon energy efficiency in Cloud datacentres. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2017.12.064Interest-aware content discovery in peer-to-peer social networks.
Guo, Yonghong, Liu, Lu, Wu, Yan and Hardy, J. 2018. Interest-aware content discovery in peer-to-peer social networks. ACM Transactions on Internet Technology.An efficient indexing model for the fog layer of industrial Internet of Things.
Miao, Dejun, Liu, Lu, Xu, Rongyan, Panneerselvam, J., Wu, Yan and Xu, Wei 2018. An efficient indexing model for the fog layer of industrial Internet of Things. IEEE Transactions on Industrial Informatics. https://doi.org/10.1109/TII.2018.2799598A framework for orchestrating secure and dynamic access of IoT services in multi-cloud environments
Liu, Lu, Zhu, Shao Ying and Kazim, M. 2018. A framework for orchestrating secure and dynamic access of IoT services in multi-cloud environments. IEEE Access. https://doi.org/10.1109/ACCESS.2018.2873812An approach to optimise resource provision with energy-awareness in datacentres by combating task heterogeneity.
Liu, Lu, Antonopoulos, Nikolaos and Panneerselvam, J. 2018. An approach to optimise resource provision with energy-awareness in datacentres by combating task heterogeneity. IEEE Transactions on Emerging Topics in Computing. https://doi.org/10.1109/TETC.2018.2794328Verifiable public key encryption scheme with equality test in 5G networks
Xu, Yan, Wang, Ming, Zhong, Hong, Cui, Jie, Liu, Lu and Franqueira, Virginia N. L. 2017. Verifiable public key encryption scheme with equality test in 5G networks. IEEE Access. https://doi.org/10.1109/ACCESS.2017.2716971RTS: road topology-based scheme for traffic condition estimation via vehicular crowdsensing
Shao, Lu, Wang, Cheng, Liu, Lu and Jiang, Changjun 2016. RTS: road topology-based scheme for traffic condition estimation via vehicular crowdsensing. Concurrency and Computation: Practice and Experience. https://doi.org/10.1002/cpe.3778Achieving green IT using VDI in cyber physical society
Liu, Lu, DaSilva, Don-Anthony, Antonopoulos, Nikolaos, Ding, Zhijun and Zhan, Yongzhao 2013. Achieving green IT using VDI in cyber physical society. Journal of Internet Technology.Event detection and user interest discovering in social media data streams
Shi, Lei-lei, Liu, Lu, Wu, Yan, Jiang, Liang and Hardy, J. 2017. Event detection and user interest discovering in social media data streams. IEEE Access. https://doi.org/10.1109/ACCESS.2017.2675839Collaborative actuation of wireless sensor and actuator networks for the agriculture industry.
Bai, Xingzhen, Liu, Lu, Cao, Maoyong, Panneerselvam, J., Sun, Qiao and Wang, Haixia 2017. Collaborative actuation of wireless sensor and actuator networks for the agriculture industry. IEEE Access. https://doi.org/10.1109/ACCESS.2017.2725342InOt-RePCoN: Forecasting user behavioural trend in large-scale cloud environments.
Panneerselvam, J., Liu, Lu and Antonopoulos, Nikolaos 2017. InOt-RePCoN: Forecasting user behavioural trend in large-scale cloud environments. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2017.05.022Mobilouds: An energy efficient MCC collaborative framework with extended mobile participation for next generation networks
Panneerselvam, J., Hardy, J., Liu, Lu, Yuan, Bo and Antonopoulos, Nikolaos 2017. Mobilouds: An energy efficient MCC collaborative framework with extended mobile participation for next generation networks. IEEE Access. https://doi.org/10.1109/ACCESS.2016.2602321Big-Data analytics and cloud computing: Theory, algorithms and applications
Hill, Richard, Trovati, Marcello, Liu, Lu, Anjum, Ashiq and Zhu, Shao Ying 2015. Big-Data analytics and cloud computing: Theory, algorithms and applications. Springer.Enhanced timeline analysis for digital forensic investigations
Inglot, Bartosz and Liu, Lu 2014. Enhanced timeline analysis for digital forensic investigations. Information Security Journal: A Global Perspective. https://doi.org/10.1080/19393555.2014.897401An integrated approach to developing self-adaptive software in open environments
Mao, Xinjun, Dong, Menggao, Liu, Lu and Wang, Huaiming 2014. An integrated approach to developing self-adaptive software in open environments. Journal of Information Science and Engineering.CloudMon: a resource-efficient IaaS cloud monitoring system based on networked intrusion detection system virtual appliances
Li, Bo, Li, Jianxin and Liu, Lu 2015. CloudMon: a resource-efficient IaaS cloud monitoring system based on networked intrusion detection system virtual appliances. Concurrency and Computation: Practice and Experience. https://doi.org/10.1002/cpe.3166An investigation of security trends in personal wireless networks
Liu, Lu, Stimpson, Thomas, Antonopoulos, Nikolaos, Ding, Zhijun and Zhan, Yongzhao 2013. An investigation of security trends in personal wireless networks. Wireless Personal Communications. https://doi.org/10.1007/s11277-013-1386-3Performance evaluation and simulation of peer-to-peer protocols for Massively Multiplayer Online Games
Liu, Lu, Jones, Andrew, Antonopoulos, Nikolaos, Ding, Zhijun and Zhan, Yongzhao 2013. Performance evaluation and simulation of peer-to-peer protocols for Massively Multiplayer Online Games. Multimedia Tools and Applications. https://doi.org/10.1007/s11042-013-1662-yVirtual vignettes: the acquisition, analysis, and presentation of social network data
Howden, Chris, Liu, Lu, Li, Zhiyuan, Li, Jianxin and Antonopoulos, Nikolaos 2014. Virtual vignettes: the acquisition, analysis, and presentation of social network data. Science China Information Sciences. https://doi.org/10.1007/s11432-014-5069-9An Efficient SDN load balancing scheme based on variance analysis for massive mobile users
Zhong, Hong, Lin, Qunfeng, Cui, Jie, Shi, Runhua and Liu, Lu 2015. An Efficient SDN load balancing scheme based on variance analysis for massive mobile users. Mobile Information Systems. https://doi.org/10.1155/2015/241732An adaptive secure communication framework for mobile peer-to-peer environments using Bayesian games
Li, Zhiyuan, Liu, Lu, Chen, Rulong and Bi, Jun-Lei 2015. An adaptive secure communication framework for mobile peer-to-peer environments using Bayesian games. Peer-to-Peer Networking and Applications. https://doi.org/10.1007/s12083-015-0376-5Cloud BI: Future of business intelligence in the Cloud
Al-Aqrabi, Hussain, Liu, Lu, Hill, Richard and Antonopoulos, Nikolaos 2014. Cloud BI: Future of business intelligence in the Cloud. Journal of Computer and System Sciences. https://doi.org/10.1016/j.jcss.2014.06.013Toward a flexible and fine-grained access control framework for infrastructure as a service clouds
Li, Bo, Li, Jianxin, Liu, Lu and Zhou, Chao 2015. Toward a flexible and fine-grained access control framework for infrastructure as a service clouds. Security and Communication Networks. https://doi.org/10.1002/sec.1216Dynamic resource discovery based on preference and movement pattern similarity for large-scale social internet of things
Li, Zhiyuan, Chen, Rulong, Liu, Lu and Min, Geyong 2015. Dynamic resource discovery based on preference and movement pattern similarity for large-scale social internet of things. IEEE Internet of Things Journal. https://doi.org/10.1109/JIOT.2015.2451138An adaptive multilevel indexing method for disaster service discovery
Wu, Yan, Yan, Chun Gang, Liu, Lu, Ding, Zhijun and Jiang, Changjun 2014. An adaptive multilevel indexing method for disaster service discovery. IEEE Transactions on Computers. https://doi.org/10.1109/TC.2014.2378273A socioecological model for advanced service discovery in machine-to-machine communication networks
Liu, Lu, Antonopoulos, Nikolaos, Zheng, Minghui, Zhan, Yongzhao and Ding, Zhijun 2016. A socioecological model for advanced service discovery in machine-to-machine communication networks. ACM Transactions on Embedded Computing Systems. https://doi.org/10.1145/2811264RVLBPNN: A workload forecasting model for smart cloud computing
Lu, Yao, Panneerselvam, J., Liu, Lu and Wu, Yan 2016. RVLBPNN: A workload forecasting model for smart cloud computing. Scientific Programming. https://doi.org/10.1155/2016/5635673CCLBR: Congestion control-based load balanced routing in unstructured P2P systems
Shen, Xiang-Jun, Chang, Qing, Liu, Lu, Panneerselvam, J. and Zha, Zheng-Jun 2016. CCLBR: Congestion control-based load balanced routing in unstructured P2P systems. IEEE Systems Journal. https://doi.org/10.1109/JSYST.2016.2558515An efficient algorithm for partially matched services in internet of services
Ahmed, Mariwan, Liu, Lu, Hardy, J., Yuan, Bo and Antonopoulos, Nikolaos 2016. An efficient algorithm for partially matched services in internet of services. Personal and Ubiquitous Computing. https://doi.org/10.1007/s00779-016-0917-9A critical review of the routing protocols in opportunistic networks
Panneerselvam, J., Atojoko, Anthony, Smith, K., Liu, Lu and Antonopoulos, Nikolaos 2014. A critical review of the routing protocols in opportunistic networks. EAI Endorsed Transactions on Industrial Networks and Intelligent Systems. https://doi.org/10.4108/inis.1.1.e6iMIG: Toward an adaptive live migration method for KVM virtual machines
Li, Jianxin, Zhao, Jieyu Zhao, Li, Yi, Cui, Lei, Li, Bo, Liu, Lu and Panneerselvam, J. 2014. iMIG: Toward an adaptive live migration method for KVM virtual machines. The Computer Journal. https://doi.org/10.1093/comjnl/bxu065Achieving dynamic load balancing through mobile agents in small world P2P networks
Shen, Xiang-Jun, Liu, Lu, Zha, Zheng-Jun, Gu, Pei-Ying, Jiang, Zhong-Qiu, Chen, Ji-Ming and Panneerselvam, J. 2014. Achieving dynamic load balancing through mobile agents in small world P2P networks. Computer Networks. https://doi.org/10.1016/j.comnet.2014.05.003Approaching the Internet of things (IoT): a modelling, analysis and abstraction framework
Ikram, Ahsan, Anjum, Ashiq, Hill, Richard, Antonopoulos, Nikolaos, Liu, Lu and Sotiriadis, Stelios 2013. Approaching the Internet of things (IoT): a modelling, analysis and abstraction framework. Concurrency and Computation: Practice and Experience. https://doi.org/10.1002/cpe.3131Energy performance assessment of virtualization technologies using small environmental monitoring sensors
Liu, Lu, Masfary, Osama and Antonopoulos, Nikolaos 2012. Energy performance assessment of virtualization technologies using small environmental monitoring sensors. Sensors. https://doi.org/10.3390/s120506610Adaptive service discovery on service-oriented and spontaneous sensor systems
Liu, Lu, Xu, Jie, Antonopoulos, Nikolaos, Li, Jianxin and Wu, Kaigu 2012. Adaptive service discovery on service-oriented and spontaneous sensor systems. Adhoc & Sensor Wireless Networks.Dynamic service integration for reliable and sustainable capability provision
Liu, Lu, Xu, Jie, Russell, Duncan, Davies, John K., Webster, David, Luo, Zongyang and Venters, Colin 2010. Dynamic service integration for reliable and sustainable capability provision. International Journal of Systems Science. https://doi.org/10.1080/00207721003774736Fault-tolerant peer-to-peer search on small-world networks
Liu, Lu, Antonopoulos, Nikolaos and Mackin, Stephen 2007. Fault-tolerant peer-to-peer search on small-world networks. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2007.03.002Managing peer-to-peer networks with human tactics in social interactions
Liu, Lu, Antonopoulos, Nikolaos and Mackin, Stephen 2007. Managing peer-to-peer networks with human tactics in social interactions. The Journal of Supercomputing. https://doi.org/10.1007/s11227-007-0156-yDistributed service integration for disaster monitoring sensor systems
Liu, Lu, Antonopoulos, Nikolaos, Xu, Jie, Webster, David and Wu, Kaigu 2011. Distributed service integration for disaster monitoring sensor systems. IET Communications. https://doi.org/10.1049/iet-com.2010.0630CyberGuarder: a virtualization security assurance architecture for green cloud computing
Li, Jianxin, Li, Bo, Wo, Tianyu, Hu, Chunming, Huai, Jinpeng, Liu, Lu and Lam, K.P. 2012. CyberGuarder: a virtualization security assurance architecture for green cloud computing. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2011.04.012Editorial: Special issue on dependable peer-to-peer systems
Liu, Lu and Xu, Jie 1931. Editorial: Special issue on dependable peer-to-peer systems. Peer-to-Peer Networking and Applications. https://doi.org/10.1007/s12083-009-0065-3Modelling and simulation of network enabled capability on service-oriented architecture
Liu, Lu, Russell, Duncan, Xu, Jie, Webster, David, Luo, Zongyang, Venters, Colin and Davies, John K. 2009. Modelling and simulation of network enabled capability on service-oriented architecture. Simulation Modelling Practice and Theory. https://doi.org/10.1016/j.simpat.2009.06.012CyberLiveApp: a secure sharing and migration approach for live virtual desktop applications in a cloud environment
Li, Jianxin, Jia, Yu, Liu, Lu and Wo, Tianyu 2011. CyberLiveApp: a secure sharing and migration approach for live virtual desktop applications in a cloud environment. Future Generation Computer Systems. https://doi.org/10.1016/j.future.2011.08.001Efficient resource discovery in self-organized unstructured peer-to-peer networks
Liu, Lu, Antonopoulos, Nikolaos, Mackin, Stephen, Xu, Jie and Russell, Duncan 2008. Efficient resource discovery in self-organized unstructured peer-to-peer networks. Concurrency and Computation: Practice and Experience. https://doi.org/10.1002/cpe.1329Efficient and scalable search on scale-free P2P networks
Liu, Lu, Xu, Jie, Russell, Duncan, Townend, Paul and Webster, David 2009. Efficient and scalable search on scale-free P2P networks. Peer-to-Peer Networking and Applications. https://doi.org/10.1007/s12083-008-0023-5HiTrust: building cross-organizational trust relationship based on a hybrid negotiation tree
Li, Jianxin, Liu, Xudong, Liu, Lu, Sun, Dazhi and Li, Bo 2011. HiTrust: building cross-organizational trust relationship based on a hybrid negotiation tree. Telecommunication Systems. https://doi.org/10.1007/s11235-011-9648-4Dynamic authentication for cross-realm SOA-based business processes
Xu, Jie, Zhang, Dacheng, Li, Xianxian and Liu, Lu 2010. Dynamic authentication for cross-realm SOA-based business processes. IEEE Transactions on Services Computing. https://doi.org/10.1109/TSC.2010.33