The goal of this project is to achieve coordination and localization among robots, even if some of the robots are behaving in an untrustworthy way. The approach is to use communication signals, and to control the motion of some robots, to learn about the environment and other agents in a way that provably supports coordinated behaviors. Multi-agent Cyber-Physical Systems (CPS) are poised for impact in society as self-driving cars, delivery drones, and disaster response robots. The results from this project will lead to improved mission intelligence for robotic platforms with significance across many areas: from Search and Rescue (SAR) tasks, to CubeSats and space exploration. The project includes tight integration between research tasks and educational activities, including participation in Hack for Humanity where students will explore SAR tasks.