# Swarm of Drones in a Simulation Environment--Efficiency and Adaptation
## 4 Simulation Experiments
### Scenario II  
Scenario II considered a drone formation with a leader that propagated the flight trajectory, where each subsequent drone followed its predecessor (Figure 5). Tables 5-8 present the observed minimum distances between drones in the swarm for the maximum positioning errors: 0 cm, 5 cm, 50 cm, and 100 cm. The obtained results assess the impact of the swarm's movement speed (ranging from 1-5 m/s) and transmission delays (ranging from 0-500 ms). Scenario II examined a more advanced formation structure of the swarm. \begin{table}
\begin{tabular}{|l|l|l|l|l|l|l|l|l|} \hline  & & \multicolumn{8}{|c|}{**Delay [ms]**} \\ \cline{3-10}  & & **0** & **50** & **100** & **200** & **300** & **400** & **500** \\ \hline \multirow{4}{*}{V [m/s]} & 1 & 4.01 & 3.99 & 3.93 & 3.67 & 3.51 & 3.35 & 3.08 \\ \cline{2-10}  & 2 & 3.11 & 3.05 & 2.66 & 2.44 & 2.12 & 1.47 & 1.2 \\ \cline{1-1} \cline{2-10}  & 3 & 1.68 & 1.63 & 1.48 & 0.85 & 0.01 & 0.01 & 0.01 \\ \cline{1-1} \cline{2-10}  & 4 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 \\ \cline{1-1} \cline{2-10}  & 5 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 \\ \hline \end{tabular}
\end{table} 
Table 6: Scenario II—Minimum distance between drones in a swarm for maximum GPS positioning error = 5 cm. \begin{table}
\begin{tabular}{|l|l|l|l|l|l|l|l|l|} \hline  & & \multicolumn{8}{|c|}{**Delay [ms]**} \\ \cline{3-10}  & & **0** & **50** & **100** & **200** & **300** & **400** & **500** \\ \hline \multirow{4}{*}{V [m/s]} & 1 & 3.22 & 3.11 & 3.11 & 2.89 & 2.68 & 2.47 & 2.23 \\ \cline{2-10}  & 2 & 2.34 & 2.27 & 1.91 & 1.58 & 1.23 & 0.71 & 0.32 \\ \cline{1-1} \cline{2-10}  & 3 & 0.88 & 0.78 & 0.63 & 0.01 & 0.01 & 0.01 & 0.01 \\ \cline{1-1} \cline{2-10}  & 4 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 \\ \cline{1-1} \cline{2-10}  & 5 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 & 0.01 \\ \hline \end{tabular}
\end{table} 
Table 7: Scenario II—Minimum distance between drones in a swarm for maximum GPS positioning error = 50 cm. Figure 7: Scenario I—The impact of speed on the distance between drone 1 and 5, for a positioning error of 5 cm and a communication delay of 50 ms. The results in Tables 5 and 6 show that the safe flight speed could not exceed 2 m/s. This result was independent of the precision of the positioning system and network delays. The results in Tables 7 and 8 present the case of positioning errors similar to the classic capabilities of the GPS system without RTK corrections. The safe speed of the swarm should not exceed 1 m/s. To increase the speed of the swarm's movement, it would be necessary to implement advanced mechanisms for collision avoidance. The results presented in Table 8 confirm the previous findings. At a speed of 1 m/s and delays exceeding 200 ms, the drones collided. The results presented in Figures 8 and 9 detail the impact of a swarm speed of 2 m/s and a communication delay of 50 ms on the change in distance between drones 1 and 5 for the swarm formation of Scenario II. speed, and communication delays on swarm coordination. The presented control mechanism, based on the others mimicking the trajectory and movements of the lead drone, facilitated smooth and coherent coordination within the swarm and maintained a constant flight speed. Our research also employed basic behavioral rules for drone swarms (leader-based model). The findings showed that drone behavior depends on their spatial configuration. The conducted experiments provided significant information on the behavior of drone swarms under various conditions, enhancing the understanding of the dynamics of swarm flight. The findings suggest that for different geometric arrangements/formations, the optimal configuration may vary. This indicates that increasing the speed of drone flight may require adaptable control strategies and advanced collision avoidance mechanisms. Implementing new solutions is crucial for ensuring the safety and efficiency of drone swarm operations, especially in situations that require rapid response and precise maneuvering, as well as in cases of communication interruptions or delays.