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49 Table 11. 020) nodes/km 92-230 (161) km/h 8000 meters The node speed used in our simulations might seem low compared to the node speeds in other MANET papers [24][27], but it is actually close to the average speed used in most simulations. The speed presented in most papers is the top speed for the random waypoint mobility model. 4 m/s. Adding the fact that most simulations use pause times this means that they have large number of relatively stable nodes that can be used to create stable routes.

The nodes that are eligible to forward a packet are determined by a forwarding area related to the node performing the broadcast. In [14] Heissenbüttel et al. recommended a circle as the best forwarding area (see Figure 30a). Our simulations have shown that this area is too small due to the low density of nodes we use. Instead all nodes that provide some minimum progress (dprogress) towards the destination are eligible as forwarders (see Figure 30b). An implication of using this larger forwarding area is that multiple copies of a packet can be active since all nodes in the forwarding area might not hear the broadcast made by the best forwarder.

Also drawn on the maps is the path of the UAVs whose local pheromone map is shown. The pheromone maps are taken from simulations where the probability of a successful transfer of pheromone data was set to 50%. 4 there is no real benefit for a UAV to have access to the global pheromone map. The important thing is to have a reasonably accurate pheromone map in the UAVs vicinity. 26 Figure 3. Figure 4. Local pheromone map after 3600 seconds of simulation. Global pheromone view after 3600 seconds of simulation.

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