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

Table 3

Average delay increment comparison with R = 20.

Speed (m/s)	5-UAV cluster (%)	6-UAV cluster (%)	7-UAV cluster (%)	8-UAV cluster (%)	9-UAV cluster (%)	10-UAV cluster (%)
10	15.70	12.79	10.37	13.08	9.76	10.90
12	13.77	14.47	11.72	17.74	11.55	12.42
14	12.83	17.33	15.53	19.10	9.52	11.01
16	25.00	15.97	23.69	27.76	12.83	11.52
18	22.39	22.22	11.17	18.29	13.66	13.76
20	15.64	16.17	15.67	21.66	13.70	17.03