# FANET Routing Protocol Analysis for Multi-UAV-Based Reconnaissance Mobility Models
## 5 Experimental Results
### RQ3: Which Mobility Model Stows the Highest PDR Performance in the Reconnaissance Scenario? We compared the PDR performance of the mobility models to identify the mobility model that shows the best PDR performance with routing protocols. Figure 4 shows the packet delivery ratio of the mobility models for each routing protocol. Figure 4a shows those for AODV, Figure 4b shows those for OLSR, and Figure 4c shows those for DSDV. Through the three figures, the SRWP mobility model shows the highest PDR performance. The MP mobility model comes next, followed by RDPZ and EGM, which yield similar performances. The DPR mobility model shows the lowest performance. As a reason that mobility models show different PDR performances, we attribute to the proximity of nodes in the UAV-to-GCS communication. In the experiment, we placed the GCS in the center of the area. SRWP, which yields the best performance (81%), randomly selects a destination and then moves in a straight line from the current position to the destination. When moving in this way, it often passes more closely through the center of the operation area compared to other mobility models. It is the reason that SRWP shows the best performance because the nodes in SRWP are close to the GCS, which is located in the center. Meanwhile, in DPR, which shows the worst performance (42%), the nodes tend to be concentrated in a specific area, but the location is concentrated on the outside rather than the center. Because the nodes are far from the GCS, the PDR performance of DPR could not be high. In the case of RDPZs, nodes move evenly throughout the operational area. As a result, RDPZ has the highest reconnaissance rate among the mobility models for reconnaissance but has a lower PDR than SRWP. Each mobility model may yield different PDR results depending on the location of the GCS, the starting point of the UAVs, and the communication distance. Figure 4: Packet delivery ratio: (**a**) AODV, (**b**) OLSR, and (**c**) DSDV. Figure 3: Packet delivery ratio and network connectivity ratio: (**a**) SRWP, (**b**) MP, (**c**) RDPZ. **Findings. ** The mobility model suitable for protocol communication is SRWP. Many factors, including the distance between GCS and UAVs, could affect the PDR performance of mobility models. RQ4: How Does the Reconnaissance Rate of a Mobility Model Affect the Performance of the Mobility Model in the Reconnaissance Scenario? RQ3 only evaluated the PDR performance of routing protocols with different mobility models. The RQ3 result is not enough to identify a suitable mobility model for our reconnaissance scenario, because a mobility model is also expected to evenly reconnoiter the reconnaissance area. For example, there is a mobility model that moves only near the GCS. In this case, the mobility model yields high PDR performance but is not desirable in the reconnaissance scenario. There is another mobility model that moves evenly throughout the reconnaissance area. The mobility model is desirable in the reconnaissance scenario. However, is the mobility model desirable for communication between GCS and nodes? In RQ4, we consider both factors, PDR and a reconnaissance ratio. When we conducted the experiment, we set up the routing protocol to AODV, because AODV was identified as the best routing protocol through RQ1 and RQ2. Figure 5a-c show the reconnaissance rates of 10 min, 30 min, and 60 min, respectively. The reconnaissance rate becomes higher as time increases. The reconnaissance rate also becomes higher as the number of nodes increases. For instance, Figure 5a shows a 0.4 reconnaissance rate for 10 nodes and shows 0.8 for 30 nodes. Figure 5c shows that when there are 30 nodes, most mobility models cover the operational area. In the experiment, RDPZ shows the highest reconnaissance rate. Figure 5d-f show Reconnaissance PDRs for 10 min, 30 min, and 60 min, respectively. Reconnaissance PDR is the value obtained by multiplying the Reconnaissance Rate by the PDR.