# Swarm of Drones in a Simulation Environment--Efficiency and Adaptation
## 4 Simulation Experiments
### Scenario I  
Experiments were conducted on a drone swarm forming a grid formation, with the lead drone located in the upper left corner (Figure 4). Tables 1-4 present the observed minimum distances between drones in the swarm, respectively, for the maximum positioning errors: 0 cm, 5 cm, 50 cm, and 100 cm. For each configuration, simulations were carried out to verify the impact of the swarm's movement speed (in the range of 1-5 m/s) and transmission delays (ranging from 0 to 500 ms). The results in Tables 1 and 2 demonstrate that a precise positioning system (accuracy similar to GPS RTK, error not exceeding 5 cm) and standard fast networks with delays not exceeding 50 ms enabled drone flights with a full range of speeds. The results noted in Tables 3 and 4 considered positioning errors which are similar to the classic capabilities of the GPS without RTK corrections (errors of 50 cm and 100 cm). The obtained results determined maximum safe speeds of 3 m/s and 2 m/s. Such a distance can be obtained in the case of fast networks (delays not exceeding 50 ms).  
The results proved that for the safe management of drone missions, it is necessary to use fast networks, comparable in performance to classic Wi-Fi networks, as well as the application of GPS RTK positioning corrections. The same dependencies can be observed in Figures 6 and 7.  
Figure 4: Scenario I—grid structure.  
Figure 5: Scenario II—grid structure.  
\begin{table}
\begin{tabular}{|c|c|c|c|c|c|c|c|c|} \hline  & & \multicolumn{8}{c|}{**Delay [ms]**} \\ \cline{3-10}  & & **0** & **50** & **100** & **200** & **300** & **400** & **500** \\ \hline  & 1 & 4.52 & 4.49 & 4.43 & 4.34 & 4.24 & 4.1 & 3.97 \\ \cline{2-10}  & 2 & 4.04 & 3.93 & 3.83 & 3.57 & 3.35 & 3.2 & 3.01 \\ \cline{2-10} V [m/s] & 3 & 3.46 & 3.3 & 3.18 & 2.85 & 2.61 & 2.32 & 2.07 \\ \cline{2-10}  & 4 & 2.89 & 2.74 & 2.55 & 2.23 & 1.83 & 1.45 & 1.15 \\ \cline{2-10}  & 5 & 2.38 & 2.17 & 2.05 & 1.53 & 1.08 & 0.64 & 0.03 \\ \hline \end{tabular}
\end{table}
Table 1: Scenario I—Minimum distance between drones in a swarm for maximum GPS positioning error = 0 cm.  
\begin{table}
\begin{tabular}{|c|c|c|c|c|c|c|c|c|} \hline  & & \multicolumn{8}{c|}{**Delay [ms]**} \\ \cline{3-10}  & & **0** & **50** & **100** & **200** & **300** & **400** & **500** \\ \hline  & 1 & 3.58 & 3.51 & 3.49 & 3.51 & 3.35 & 3.2 & 3.17 \\ \cline{2-10}  & 2 & 3.14 & 3.05 & 2.96 & 2.68 & 2.56 & 2.35 & 2.1 \\ \cline{2-10} V [m/s] & 3 & 2.66 & 2.52 & 2.4 & 2.08 & 1.82 & 1.48 & 1.27 \\ \cline{2-10}  & 4 & 1.97 & 1.89 & 1.75 & 1.41 & 0.97 & 0.61 & 0.31 \\ \cline{2-10}  & 5 & 1.56 & 1.49 & 1.24 & 0.64 & 0.27 & 0.01 & 0.01 \\ \hline \end{tabular}
\end{table}
Table 4: Scenario I—Minimum distance between drones in a swarm for maximum GPS positioning error = 100 cm.  
\begin{table}
\begin{tabular}{|c|c|c|c|c|c|c|c|c|} \hline  & & \multicolumn{8}{c|}{**Delay [ms]**} \\ \cline{3-10}  & & **0** & **50** & **100** & **200** & **300** & **400** & **500** \\ \hline  & 1 & 4.52 & 4.49 & 4.43 & 4.34 & 4.24 & 4.1 & 3.97 \\ \cline{2-10}  & 2 & 4.04 & 3.93 & 3.83 & 3.57 & 3.35 & 3.2 & 3.01 \\ \cline{2-10} V [m/s] & 3 & 3.46 & 3.3 & 3.18 & 2.85 & 2.61 & 2.32 & 2.07 \\ \cline{2-10}  & 4 & 2.89 & 2.74 & 2.55 & 2.23 & 1.83 & 1.45 & 1.15 \\ \cline{2-10}  & 5 & 2.38 & 2.17 & 2.05 & 1.53 & 1.08 & 0.64 & 0.03 \\ \hline \end