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Mobile autonomous system (MAS) becomes pervasive especially in the vehicularand robotic networks. Multiple heterogeneous MAS networks can be integratedtogether as a multi-layer MAS network to offer holistic services. The networkconnectivity of multi-layer MAS plays an important role in the informationexchange between agents within and across different layers of the network. Inthis paper, we establish a games-in-games framework to capture theuncoordinated nature of decision makings under adversarial environment atdifferent layers. Specifically, each network operator controls the mobileagents in his own subnetwork and designs a secure strategy to maximize theglobal network connectivity by considering the behavior of jamming attackersthat aim to disconnect the network. The solution concept of meta-equilibrium isproposed to characterize the system-of-systems behavior of the autonomousagents. For online implementation of the control, we design a resilientalgorithm that improves the network algebraic connectivity iteratively. We showthat the designed algorithm converges to a meta-equilibrium asymptotically.Finally, we use case studies of a two-layer MAS network to corroborate thesecurity and agile resilience of the network controlled by the proposedstrategy.

Control of Multi-Layer Mobile Autonomous Systems in Adversarial Environments: A Games-in-Games Approach