Control of Multi-Layer Mobile Autonomous Systems in Adversarial Environments: A Games-in-Games Approach

Juntao Chen, Quanyan Zhu

Research output: Contribution to journalArticle


Multiple heterogeneous mobile autonomous system (MAS) networks can be integrated together as a multi-layer MAS network to offer holistic services. The network connectivity of multi-layer MAS plays an important role in the information exchange between agents within and across different layers of the network. In this paper, we establish a games-in-games framework to capture the uncoordinated nature of decision makings under adversarial environment at different layers. Specifically, each network operator controls the mobile agents in his own subnetwork and designs a secure strategy to maximize the global network connectivity by considering the behavior of jamming attackers that aim to disconnect the network. The solution concept of meta-equilibrium is proposed to characterize the system-of-systems behavior of the autonomous agents. For online implementation of the control, we design a resilient algorithm that improves the network algebraic connectivity iteratively. We show that the designed algorithm converges to a meta-equilibrium asymptotically. Finally, we use case studies of a two-layer MAS network to corroborate the results.

Original languageEnglish (US)
JournalIEEE Transactions on Control of Network Systems
StateAccepted/In press - Jan 1 2019


  • Connectivity
  • Cybersecurity
  • Games-in-Games
  • Mobile autonomous system
  • Multi-layer networks

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Control and Optimization

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