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

Table 5

Average delay increment for 6-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	31.84	34.76	28.65	28.14	29.95	33.85
14	23.18	29.47	22.75	21.79	28.17	21.67
16	25.71	20.83	22.49	20.01	22.31	16.39
18	19.63	13.71	18.99	14.09	15.05	14.88
20	12.20	11.38	13.75	12.06	14.29	10.34