  This paper presents an adversary detection mechanism and a resilient control
framework for multi-agent systems under spatiotemporal constraints. Safety in
multi-agent systems is typically addressed under the assumption that all agents
collaborate to ensure the forward invariance of a desired safe set. This work
analyzes agent behaviors based on certain behavior metrics, and designs a
proactive adversary detection mechanism based on the notion of the critical
region for the system operation. In particular, the presented detection
mechanism not only identifies adversarial agents, but also ensures all-time
safety for intact agents. Then, based on the analysis and detection results, a
resilient QP-based controller is presented to ensure safety and liveness
constraints for intact agents. Simulation results validate the efficacy of the
presented theoretical contributions.
