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Table 2 Computation overhead

From: ToAM: a task-oriented authentication model for UAVs based on blockchain

Protocol UAV mUAV Server
ToAM Group building 2*Cs + Cver + Csign (Cs + Csign) * N (Cs + CECDH + Cver * 2) * N
Intra-group authentication 2 * Cs * N \
BASA (2 * Cs + Cver + Csign) * N (2 * Cs + Cver + Csign) * N
SENTINEL Mutual authentication and key agreement Cs + 2 * Cver * N 2 *(Cs + Csign + Cver) * N
UAVs authentication Cs * N Cs * N