We study
how covert, within-bounds misbehavior by a single agent propagates to mission-level failure in a learned, decentralized, connectivity-aware coverage swarm — and how that propagation is governed by the agent's role and graph-position. The substrate is a size-invariant graph belief that doubles as the attacker's surface and the team's stealth detector; resilience is posed as a stealth–damage frontier rather than a single attack. This bridges three literatures that do not currently meet: connectivity-aware role allocation (homogeneous, no covert adversary), covert c-MARL poisoning (game benchmarks, trigger-based, no spatial/role structure), and resilient consensus / cascade modeling (detectable or non-adversarial). These objects are made precise in the project's
formalism (
formalism.tex): the stealth budget as KL-undetectability, the break budget, the propagation model, and the brittleness frontier — see the
theory page.