video_compare_resilient_vs_InfoSci

In the highlighted attack-stop phases, the proposed resilient DMPC (left) keeps the formation geometry tighter and shows smoother trajectories, with a faster return to the desired offsets after each disturbance/attack event. By contrast, Xia2022 (right) experiences larger transient dispersion and more oscillatory paths under the same conditions, resulting in a less accurate formation-keeping performance before re-convergence.