Anonymity, robust synchronization, and perfect forward secrecy are the most important security properties of authenticated key agreement (AKA) protocols. Designing AKA protocols that simultaneously achieve these security properties and availability in the IoT environment is a challenging task. AKA protocols built using public key cryptographic primitives have advantages in achieving these critical security properties, but performing expensive public-key cryptographic operations is inefficient for resource-constrained IoT devices. The authentication protocols based on symmetric cryptographic pr...