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Consensus and cluster forming of multiagent systems in the face of jammingattacks along with reactive recovery actions by a defender are discussed. Theattacker is capable to disable some of the edges of the network with theobjective to divide the agents into a smaller size of clusters while, inresponse, the defender recovers some of the edges by increasing thetransmission power. We consider repeated games where the resulting optimalstrategies for the two players are derived in a rolling horizon fashion. Theattacker and the defender possess different computational abilities tocalculate their strategies. This aspect is represented by the non-uniformvalues of the horizon lengths and the game periods. Theoretical and simulationbased results demonstrate the effects of the horizon lengths and the gameperiods on the agents' states.

Cluster Forming of Multiagent Systems in Rolling Horizon Games with Non-uniform Horizons