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Phadke et al. Intell Robot 2023;3:453-78 https://dx.doi.org/10.20517/ir.2023.27 Page 457

Figure 4. The network visualization of extracted keywords from the selected and compiled literature.

Figure 5. The density visualization of keywords from the selected and compiled literature.

mentioned earlier, the division into components and modules is based on previous work by the authors.
This work is presented as a systematic component analysis and summarized in Figure 6. The seven main
[15]
components of UAV swarms are listed, and each component has its child modules. Good system design
practice includes addressing each module for robustness to bring a measure of resilience to the parent
component’s function.

In general, the approach in the literature has always been to incorporate the most obvious and important
resilience mechanisms in UAV swarm components. However, this is an idealistic approach that is worth
closer examination. While specific use case scenarios may not require such a comprehensive integration of
mechanisms to respond to disruptions that are not predicted to occur in their state space, this review
considers a broad body of research on UAV and UAV swarms and their proposed usage. Often, the choice
of the component to implement resilient mechanisms for was also based on the application the swarms will
be used for.