L. Lucchesi, M. Endler, and B. Souza. " Dynamic effects of communication delay, failure rates, and speed on UAV swarm formation", in Anais do XLII Simpósio Brasileiro de Redes de Computadores e Sistemas Distribuídos, Niterói/RJ, 2024, pp. 588-601, doi: https://doi.org/10.5753/sbrc.2024.1445.