  Due to the limited computing resources of swarm of drones, it is difficult to
handle computation-intensive tasks locally, hence the cloud based computation
offloading is widely adopted. However, for the business which requires low
latency and high reliability, the cloud-based solution is not suitable, because
of the slow response time caused by long distance data transmission. Therefore,
to solve the problem mentioned above, in this paper, we introduce fog computing
into swarm of drones (FCSD). Focusing on the latency and reliability sensitive
business scenarios, the latency and reliability is constructed as the
constraints of the optimization problem. And in order to enhance the
practicality of the FCSD system, we formulate the energy consumption of FCSD as
the optimization target function, to decrease the energy consumption as far as
possible, under the premise of satisfying the latency and reliability
requirements of the task. Furthermore, a heuristic algorithm based on genetic
algorithm is designed to perform optimal task allocation in FCSD system. The
simulation results validate that the proposed fog based computation offloading
with the heuristic algorithm can complete the computing task effectively with
the minimal energy consumption under the requirements of latency and
reliability.
