000119699 001__ 119699 000119699 005__ 20221115154454.0 000119699 0248_ $$2sideral$$a130482 000119699 037__ $$aART-2020-130482 000119699 041__ $$aeng 000119699 100__ $$aFabra, Francisco 000119699 245__ $$aMUSCOP: Mission-based UAV swarm coordination protocol 000119699 260__ $$c2020 000119699 5060_ $$aAccess copy available to the general public$$fUnrestricted 000119699 5203_ $$aNowadays,UnmannedAerial Vehicles (UAVs) have become the preferred, and sometimes the only support tool when facing critical scenarios such as earthquakes, search and rescue missions, and border surveillance. In these scenarios, deploying a UAV swarm instead of a single UAV can provide additional benefits when, for example, cargo carrying requirements exceed the lifting power of a single UAV, or when the deployment of several UAVs simultaneously can accelerate the accomplishment of the mission, and broaden the covered area. To this aim, in this paper we present MUSCOP, a protocol that allows multiple UAVs to perfectly coordinate their flight when performing planned missions. Experimental results show that the proposed protocol is able to achieve a high degree of swarm cohesion independently of the swarm formation adopted, and even in the presence of very lossy channels, achieving minimal synchronization delays and very low position offsets with regard to the ideal case. 000119699 536__ $$9info:eu-repo/grantAgreement/ES/MICINN/RTI2018-096384-B-100 000119699 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000119699 590__ $$a3.367$$b2020 000119699 591__ $$aCOMPUTER SCIENCE, INFORMATION SYSTEMS$$b65 / 162 = 0.401$$c2020$$dQ2$$eT2 000119699 591__ $$aTELECOMMUNICATIONS$$b36 / 91 = 0.396$$c2020$$dQ2$$eT2 000119699 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b94 / 273 = 0.344$$c2020$$dQ2$$eT2 000119699 592__ $$a0.586$$b2020 000119699 593__ $$aComputer Science (miscellaneous)$$c2020$$dQ1 000119699 593__ $$aMaterials Science (miscellaneous)$$c2020$$dQ1 000119699 593__ $$aEngineering (miscellaneous)$$c2020$$dQ1 000119699 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000119699 700__ $$aZamora, Willian 000119699 700__ $$aReyes, Pablo 000119699 700__ $$0(orcid)0000-0001-7657-0075$$aSanguesa, Julio A.$$uUniversidad de Zaragoza 000119699 700__ $$aCalafate, Carlos T 000119699 700__ $$aCano, Juan Carlos 000119699 700__ $$aManzoni, Pietro 000119699 7102_ $$15007$$2570$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Lenguajes y Sistemas Inf. 000119699 773__ $$g8 (2020), 72498 - 72511$$pIEEE Access$$tIEEE Access$$x2169-3536 000119699 8564_ $$s2008997$$uhttps://zaguan.unizar.es/record/119699/files/texto_completo.pdf$$yVersión publicada 000119699 8564_ $$s2772194$$uhttps://zaguan.unizar.es/record/119699/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000119699 909CO $$ooai:zaguan.unizar.es:119699$$particulos$$pdriver 000119699 951__ $$a2022-11-15-12:18:16 000119699 980__ $$aARTICLE