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

Swarm-based Drone-as-a-Service (SDaaS) for Delivery