107383 20230712100013.0 doi 10.1109/ICCCN49398.2020.9209634 sideral 121205 ART-2020-121205 eng Wubben, J. Providing resilience to UAV swarms following planned missions 2020 Access copy available to the general public Unrestricted As 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. info:eu-repo/grantAgreement/ES/MCIU/RTI2018-096384-B-I00 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.275 2020 Computer Networks and Communications 2020 Software 2020 Hardware and Architecture 2020 Computer Science (miscellaneous) 2020 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Catalan, I. Lurbe, M. Fabra, F. Universidad de Zaragoza (orcid)0000-0001-5549-7649 Martinez, F.J. Calafate, C.T. Cano, J.C. Manzoni, P. 5007 570 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Lenguajes y Sistemas Inf. 2020-August (2020), [6 pp] Proc. - Int. Conf. Comput. Commun. Netw. Proceedings - International Conference on Computer Communications and Networks, ICCCN 1095-2055 210022 http://zaguan.unizar.es/record/107383/files/texto_completo.pdf Postprint 3153760 http://zaguan.unizar.es/record/107383/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:107383 articulos driver 2023-07-12-09:33:41 ARTICLE