Providing resilience to UAV swarms following planned missions

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.