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

Figure 8

Delay increment for multi-UAV clusters of different sizes at a speed from 10 to 20 m/s and with R = 20. (a) Boxplot for 5-UAV clusters. (b) Boxplot for 6-UAV clusters. (c) Boxplot for 7-UAV clusters. (d) Boxplot for 8-UAV clusters. (e) Boxplot for 9-UAV clusters. (f) Boxplot for 10-UAV clusters.

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