Proof-of-Authority Position Agreement for UAV Swarms: Smart Contracts, Simulators, and Geth Testbed Measurements

Code and data for the article “Proof-of-Authority Position Agreement for UAV Swarms Without a Ground Control Station”. The UAVs of a swarm agree on a common reference position after the link to the ground control station is lost, using Clique proof of authority (Geth v1.12.2) and five Solidity contracts for access control, position proposals, medoid voting, finalization, and evidence-based exclusion of an equivocating signer. The record contains the contract sources, discrete-event simulators of the protocol and of the equivocation attack, the scripts of all figures and tables, the containerized Geth testbed with netem link emulation, the raw logs of 21 testbed runs of 100 epochs each, and the measurements of an earlier five-node network. Code is licensed under MIT, data under CC BY 4.0.