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

Table 4

Average delay increment for 5-UAV clusters at a speed of 10–20 m/s and with R of 12–20 m.

Threshold R (m)	V = 10 m/s (%)	V = 12 m/s (%)	V = 14 m/s (%)	V = 16 m/s (%)	V = 18 m/s (%)	V = 20 m/s (%)
12	26.58	25.71	28.74	34.21	43.24	36.23
14	24.35	22.00	25.61	31.51	31.58	25.59
16	12.15	14.74	18.75	30.99	23.68	26.98
18	8.93	10.64	17.72	27.54	23.29	26.23
20	9.70	11.03	10.39	14.90	13.78	15.60