Table 1.

MBCAP flight time overhead (min:s).

Scenario	UAV	MBCAP-i			MBCAP-e
		on	off	$\mathsf{\Delta }$t	on	off	$\mathsf{\Delta }$t
1	1	3:41	3:03	0:38	3:29	2:59	0:30
	2	3:21	3:03	0:18	3:17	3:00	0:17
2	1	4:28	3:35	0:53	4:08	3:33	0:35
	2	3:32	3:03	0:29	3:23	2:59	0:24
3	1	3:59	3:03	0:56	3:41	2:59	0:42
	2	3:32	3:03	0:29	3:21	3:00	0:21
4	1	3:40	3:03	0:37	3:27	2:59	0:28
	2	3:21	3:03	0:18	3:16	3:01	0:15
5	1	3:51	3:03	0:48	3:34	2:59	0:35
	2	3:26	3:03	0:23	3:16	3:01	0:15
6	1	10:46	10:11	0:35	10:31	10:04	0:27
	2	30:47	30:27	0:20	30:33	30:17	0:16