  This research proposes a distributed switching control to secure multi-robot
systems in the presence of cyberattacks. Two major types of cyberattack are
considered: deception attack and denial of service (DoS) attack, which
compromise the integrity and availability of resources, respectively. First, a
residual-based attack detection scheme is introduced to identify the type of
attacks. Then, a switching control is designed to neutralize the effect of the
identified attacks, satisfying the performance guarantees required for state
consensus among robots. For the type of a deception attack, coordination-free
consensus protocols are designed to tune the weights of each robot in a way
that uncompromised robots gain more weight than compromised robots. For the
type of a DoS attack, leader-follower protocols that reconfigure the
communication topology are utilized to transform the compromised robots into
sub-robots following the leaders. The performance of the proposed approach is
evaluated on the Robotarium multi-robot testbed. A full demonstration with
extensive cases is available at https://youtu.be/eSj0XS2pdxI.
