  Cyber-physical systems (CPSs) facilitate the integration of physical entities
and cyber infrastructures through the utilization of pervasive computational
resources and communication units, leading to improved efficiency, automation,
and practical viability in both academia and industry. Due to its openness and
distributed characteristics, a critical issue prevalent in CPSs is to guarantee
resilience in presence of malicious attacks. This paper conducts a
comprehensive survey of recent advances on resilient coordination for CPSs.
Different from existing survey papers, we focus on the node injection attack
and propose a novel taxonomy according to the multi-layered framework of CPS.
Furthermore, miscellaneous resilient coordination problems are discussed in
this survey. Specifically, some preliminaries and the fundamental problem
settings are given at the beginning. Subsequently, based on a multi-layered
framework of CPSs, promising results of resilient consensus are classified and
reviewed from three perspectives: physical structure, communication mechanism,
and network topology. Next, two typical application scenarios, i.e.,
multi-robot systems and smart grids are exemplified to extend resilient
consensus to other coordination tasks. Particularly, we examine resilient
containment and resilient distributed optimization problems, both of which
demonstrate the applicability of resilient coordination approaches. Finally,
potential avenues are highlighted for future research.
