video_sim

The video depicts a dynamic simulation of a multi-agent system that is operating in a structured delta formation while navigating through predefined waypoints. At the beginning, the agents move in nominal mode—following their trajectories and maintaining a stable formation using standard control inputs. As the simulation progresses, you can observe disruptions caused by FDI attacks (pink background), which disturb inter-agent communication and result in deviations from the desired paths. Notably, the third frame of the video highlights the system’s resilient control scheme as described in the uploaded paper. In this phase, agents detect the cyber attacks through predictive anomaly detection based on set-membership conditions. Once an attack is identified, the affected agents apply stored control sequences (altruistic control) and may reconfigure their network topology (for example, by disconnecting from compromised parent links) to isolate the threat. This adaptive response enables th