The introduction of publicly available large-scale datasets and advances in generative adversarial networks (GANs) have revolutionized the generation of hyper-realistic facial images, which are difficult to detect and can rapidly reach millions of people, with adverse impacts on the community. Research on manipulated facial image detection and generation remains scattered and in development. This survey aimed to address this gap by providing a comprehensive analysis of the methods used to produce manipulated face images, with a focus on deepfake technology and emerging techniques for detecting fake images. The review examined four key groups of manipulated face generation techniques: (1) attributes manipulation, (2) facial re-enactment, (3) face swapping, and (4) face synthesis. Through an in-depth investigation, this study sheds light on commonly used datasets, standard manipulated face generation/detection approaches, and benchmarking methods for each manipulation group. Particular emphasis is placed on the advancements and detection techniques related to deepfake technology. Furthermore, the paper explores the benefits of analyzing deepfake while also highlighting the potential threats posed by this technology. Existing challenges in the field are discussed, and several directions for future research are proposed to tackle these challenges effectively. By offering insights into the state of the art for manipulated face image detection and generation, this survey contributes to the advancement of understanding and combating the misuse of deepfake technology.

This article presents a formation tracking control method for the operation of multi-agent systems under disturbances. This study aims to ensure that the followers of a quadcopter converge into the desired formation while the center formation of the follower quadcopters tracks the leader’s trajectory within a finite time. The distributed finite-time formation control problem is first investigated using the fast terminal sliding mode control (FTSMC) theory. A disturbance observer is then integrated into the FTSMC to overcome the model uncertainties and bounded disturbances. Subsequently, the Lyapunov function is proposed to ensure the stability of the system. It is shown that formation tracking control can be achieved even in the presence of disturbances. Simulation and experimental results verify the effectiveness of the proposed formation tracking control method compared to existing ones.