  This paper investigates the resilient control, analysis, recovery, and
operation of mobile robot networks in time-varying formation tracking under
deception attacks on global positioning. Local and global tracking control
algorithms are presented to ensure redundancy of the mobile robot network and
to retain the desired functionality for better resilience. Lyapunov stability
analysis is utilized to show the boundedness of the formation tracking error
and the stability of the network under various attack modes. A performance
index is designed to compare the efficiency of the proposed formation tracking
algorithms in situations with or without positioning attacks. Subsequently, a
communication-free decentralized cooperative localization approach based on
extended information filters is presented for positioning estimate recovery
where the identification of the positioning attacks is based on
Kullback-Leibler divergence. A gain-tuning resilient operation is proposed to
strategically synthesize the formation control and cooperative localization for
accurate and rapid system recovery from positioning attacks. The proposed
methods are tested using both numerical simulation and experimental validation
with a team of quadrotors.
