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In this paper, we consider two coupled problems for distributed multi-robotsystems (MRSs) coordinating with limited field of view (FOV) sensors: adaptivetuning of interaction gains and rejection of sensor attacks. First, a typicalshortcoming of distributed control frameworks (e.g., potential fields) is thatthe overall system behavior is highly sensitive to the gain assigned torelative interactions. Second, MRSs with limited FOV sensors can be moresusceptible to sensor attacks aimed at their FOVs, and therefore must beresilient to such attacks. Based on these shortcomings, we propose acomprehensive solution that combines efforts in adaptive gain tuning and attackresilience to the problem of topology control for MRSs with limited FOVs.Specifically, we first derive an adaptive gain tuning scheme based onsatisfying nominal pairwise interactions, which yields a dynamic balancing ofinteraction strengths in a robot's neighborhood. We then model additive sensorand actuator attacks (or faults) and derive H infinity control protocols byemploying a static output-feedback technique, guaranteeing bounded L2 gains ofthe error induced by the attack (fault) signals. Finally, simulation resultsusing ROS Gazebo are provided to support our theoretical findings.

Distributed Adaptive and Resilient Control of Multi-Robot Systems with Limited Field of View Interactions