000107383 001__ 107383 000107383 005__ 20230712100013.0 000107383 0247_ $$2doi$$a10.1109/ICCCN49398.2020.9209634 000107383 0248_ $$2sideral$$a121205 000107383 037__ $$aART-2020-121205 000107383 041__ $$aeng 000107383 100__ $$aWubben, J. 000107383 245__ $$aProviding resilience to UAV swarms following planned missions 000107383 260__ $$c2020 000107383 5060_ $$aAccess copy available to the general public$$fUnrestricted 000107383 5203_ $$aAs we experience an unprecedented growth in the field of Unmanned Aerial Vehicles (UAVs), more and more applications keep arising due to the combination of low cost and flexibility provided by these flying devices, especially those of the multirrotor type. Within this field, solutions where several UAVs team-up to create a swarm are gaining momentum as they enable to perform more sophisticated tasks, or accelerate task execution compared to the single-UAV alternative. However, advanced solutions based on UAV swarms still lack significant advancements and validation in real environments to facilitate their adoption and deployment. In this paper we take a step ahead in this direction by proposing a solution that improves the resilience of swarm flights, focusing on handling the loss of the swarm leader, which is typically the most critical condition to be faced. Experiments using our UAV emulation tool (ArduSim) evidence the correctness of the protocol under adverse circumstances, and highlight that swarm members are able to seamlessly switch to an alternative leader when necessary, introducing a negligible delay in the process in most cases, while keeping this delay within a few seconds even in worst-case conditions. 000107383 536__ $$9info:eu-repo/grantAgreement/ES/MCIU/RTI2018-096384-B-I00 000107383 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000107383 592__ $$a0.275$$b2020 000107383 593__ $$aComputer Networks and Communications$$c2020 000107383 593__ $$aSoftware$$c2020 000107383 593__ $$aHardware and Architecture$$c2020 000107383 593__ $$aComputer Science (miscellaneous)$$c2020 000107383 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000107383 700__ $$aCatalan, I. 000107383 700__ $$aLurbe, M. 000107383 700__ $$0(orcid)0000-0001-5549-7649$$aFabra, F.$$uUniversidad de Zaragoza 000107383 700__ $$aMartinez, F.J. 000107383 700__ $$aCalafate, C.T. 000107383 700__ $$aCano, J.C. 000107383 700__ $$aManzoni, P. 000107383 7102_ $$15007$$2570$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Lenguajes y Sistemas Inf. 000107383 773__ $$g2020-August (2020), [6 pp]$$pProc. - Int. Conf. Comput. Commun. Netw.$$tProceedings - International Conference on Computer Communications and Networks, ICCCN$$x1095-2055 000107383 8564_ $$s210022$$uhttps://zaguan.unizar.es/record/107383/files/texto_completo.pdf$$yPostprint 000107383 8564_ $$s3153760$$uhttps://zaguan.unizar.es/record/107383/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000107383 909CO $$ooai:zaguan.unizar.es:107383$$particulos$$pdriver 000107383 951__ $$a2023-07-12-09:33:41 000107383 980__ $$aARTICLE