We design MAST, the multi-agent security testbed, using ROS2 for security-analysis of MS/MA autonomy. 

We integrate MAST with the recently-released multiagent dataset pipeline [17] for the first real-time playback of simulated MS/MA autonomy data. 

We build the first bridge between AVstack [19] and ROS to integrate state-of-the-art AV algorithms into a scalable, near-real-time simulation. 

We design an automated build process for AV algorithm pipelines using high-level configuration files to enable rapid prototyping of MS/MA configurations. 

We provide a baseline framework for security analysis of MS/MA algorithms in MAST with (un)coordinated models of adversary nodes that can affect the sensing, perception, tracking, and/or communication of AVs. 

We execute security-focused case studies and Monte Carlo evaluations with centralized sensor fusion and motivate the need for security-aware collaborative autonomy