Internet of Drones (IoD) is a decentralized network and management framework that links drones' access to the controlled airspace and provides inter-location navigation services. The interconnection of drones in the IoD network is through the Internet of Things (IoT). Hence the IoD network is vulnerable to all the security and privacy threats that affect IoT networks. It is highly required to safeguard a good atmosphere free from security and privacy threats to get the desired performance from IoD applications. Security and privacy issues have significantly restricted the overall influence of the IoD paradigm. There are existing survey studies that helped lay a vital foundation for understanding the IoD security and privacy issues. However, not all have thoroughly investigated the level of security and privacy threats associated with the various drone categories. Besides, most existing review studies do not examine secured IoD architecture. This paper aims to assess the recent trends in the security and privacy issues that affect the IoD network. We investigate the level of security and privacy threats of the various drone categories. We then highlight the need for secured IoD architecture and propose one. We also give a comprehensive taxonomy of the attacks on the IoD network. Moreover, we review the recent IoD attack mitigating techniques. We also provide the performance evaluation methods and the performance metrics employed by the techniques. Finally, we give research future direction to help researchers identify the latest opportunities in IoD research.

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Prior studies in Wireless Sensor Network (WSN) optimization mostly concentrate on maximizing network coverage and minimizing network energy consumption. However, there are other factors that could affect the WSN Quality of Service (QoS). In this paper, four objective functions that affect WSN QoS, namely end-to-end delay, end-to-end latency, network throughput and energy efficiency are studied. Optimal value of packet payload size that is able to minimize the end-to-end delay and end-to-end latency, while also maximizing the network throughput and energy efficiency is sought. To do this, a smart grid application case study together with a WSN QoS model is used to find the optimal value of the packet payload size. Our proposed method, named Multi-Objective Optimization Algorithm Based on Sperm Fertilization Procedure (MOSFP), along with other three state-of-the-art multi-objective optimization algorithms known as OMOPSO, NSGA-II and SPEA2, are utilized in this study. Different packet payload sizes are supplied to the algorithms and their optimal value is derived. From the experiments, the knee point and the intersection point of all the obtained Pareto fronts for all the algorithms show that the optimal packet payload size that manages the trade-offs between the four objective functions is equal to 45 bytes. The results also show that the performance of our proposed MOSFP method is highly competitive and found to have the best average value compared to the other three algorithms. Furthermore, the overall performance of MOSFP on four objective functions outperformed OMOPSO, NSGA-II and SPEA2 by 3%, 6% and 51%, respectively.

As the demand increases for the use Unmanned Aerial Vehicles (UAVs) to monitor natural disasters, protecting territories, spraying, vigilance in urban areas, etc., detecting safe landing zones becomes a new area that has gained interest. This paper presents an intelligent system for detecting regions to navigate a UAV when it requires an emergency landing due to technical causes. The proposed system explores the fact that safe regions in images have flat surfaces, which are extracted using the Gabor Transform. This results in images of different orientations. The proposed system then performs histogram operations on different Gabor-oriented images to select pixels that contribute to the highest peak, as Candidate Pixels (CP), for the respective Gabor-oriented images. Next, to group candidate pixels as one region, we explore Markov Chain Codes (MCCs), which estimate the probability of pixels being classified as candidates with neighboring pixels. This process results in Candidate Regions (CRs) detection. For each image of the respective Gabor orientation, including CRs, the proposed system finds a candidate region that has the highest area and considers it as a reference. We then estimate the degree of similarity between the reference CR with corresponding CRs in the respective Gabor-oriented images using a Chi square distance measure. Furthermore, the proposed system chooses the CR which gives the highest similarity to the reference CR to fuse with that reference, which results in the establishment of safe landing zones for the UAV. Experimental results on images from different situations for safe landing detection show that the proposed system outperforms the existing systems. Furthermore, experimental results on relative success rates for different emergency conditions of UAVs show that the proposed intelligent system is effective and useful compared to the existing UAV safe landing systems.