  We propose a novel framework for composing Swarm-based Drone-as-a-Service
(SDaaS) for delivery. Two composition approaches, i.e., sequential and parallel
are designed considering the different behaviors of drone swarms. The proposed
framework considers various constraints, e.g., recharging time and limited
battery to meet delivery deadlines. We propose SDaaS composition algorithms
using a modified A* algorithm. A cooperative behavior model is incorporated to
reduce recharging and waiting time in a delivery. Experimental results prove
the efficiency of the proposed approach.
