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

Table 7

Average delay increment for 8-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	24.50	44.71	28.72	41.93	46.56	46.22
14	21.48	33.62	28.98	32.51	23.56	38.63
16	16.64	14.48	20.41	30.47	15.99	25.43
18	10.20	17.21	18.67	7.76	20.32	8.83
20	9.35	10.44	8.09	9.82	11.84	10.47