Fig.1

Schematic diagram of unmanned aerial vehicle coverage"

Fig.2

Repulsive force among unmanned aerial vehicles"

Fig.3

Analysis of external force on unmanned aerial vehicles"

Fig.4

Extreme situation 1 of unmanned aerial vehicle location"

Fig.5

Extreme situation 2 of unmanned aerial vehicle location"

Table 1

Weight coefficient of each virtual force"

Fig.6

Flow chart of unmanned aerial vehicle self-organization algorithm"

Fig.7

Self-organizing recovery process of swarm"

Fig.8

Coverage critical threshold adjustment process"

Fig.9

Flow chart of resilient self-organizing coverage algorithm"

Fig.10

Coverage of unmanned aerial vehicle swarm in different key areas"

Fig.11

Swarm coverage with n=20"

Fig.12

Swarm coverage with n=30"

Fig.13

Swarm coverage with n=40"

Fig.14

Swarm coverage with n=50"

Fig.15

Number of unmanned aerial vehicles and different critical threshold coverage sizes"

Table 2

Parameters in experiments"

Fig.16

Resilience of two modes in different swarm scales"

Fig.17

Variation process of single test coverage over time in two modes with n=40"

Fig.18

Resilience of unmanned aerial vehicles varies with degree of damage with n=40"