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