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

Table 9

Average delay increment for 10-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	37.84	38.24	39.15	42.36	35.38	35.93
14	34.16	34.43	37.08	30.53	33.18	35.19
16	25.70	19.29	23.54	11.17	9.40	16.29
18	7.87	12.04	10.12	8.76	10.09	9.39
20	5.79	12.15	3.71	7.61	8.46	6.14