Group Mobility Model for Complex Multimission Cooperation of UAV Swarm

Table 7

The performance of different reference node selection algorithms.

Statistical parameters	Random class		Reference class		Associate class		The proposed model
	Mean	Maximum	Mean	Maximum	Mean	Maximum	Mean	Maximum
Algorithm overhead (packet/s)	0	0	0	0	1.36	2.2	1.8	2.6
Neighbor nodes (node)	0.4	2	2.4	4	2.6	5	3.3	6
Message average ETE delay (ms)	NaN	NaN	1.54	1.8	1.47	1.77	1.33	1.55
Link length (node)	1.3	2	2	2	2.3	4	3.5	5
Node load (node)	0	0	1.8	3	2.2	4	1.3	4