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

Table 8

Average delay increment for 9-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	25.44	29.77	23.68	47.84	38.94	28.74
14	17.04	18.07	19.67	26.66	27.97	19.34
16	15.41	13.16	18.34	22.55	20.16	15.64
18	14.10	11.95	16.67	19.52	12.80	12.85
20	8.13	10.73	13.37	8.90	12.92	10.60