Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence

Figure 9

Average delay increment comparison for multi-UAV clusters of different sizes at a speed from 10 to 20 m/s and with R from 12 to 20 m. (a) Result for 5-UAV clusters. (b) Result for 6-UAV clusters. (c) Result for 7-UAV clusters. (d) Result for 8-UAV clusters. (e) Result for 9-UAV clusters. (f) Result for 10-UAV clusters.

(a)

(b)

(c)

(d)

(e)

(f)