## 2 Related Work
### UAV-Assisted Smart Farming  
Smart farming has become a reality with the growth of the IoT and unmanned aerial vehicles. IoT increases the value of gathered data through perceptual computation, automated data collection, and access by facilitating data flow between various sensors and other IoT devices. As a result, smart farms may employ productivity and managerial methods that are more timely and affordable [25]. Agricultural UAVs are notable practical developments in smart farming and are frequently employed by farmers [26; 27] for regulating and supervising farming operations. Several UAVs are often intended to effectively pour water and various pesticides into territory where personal mobility is difficult and the farms have varying altitudes. Recognizing the importance of this, the Massachusetts Institute of Technology designated UAVs as a green-tech tool for smart farming in 2014 [28].  
Clusters of UAVs with diverse sensors and 3D cameras can cooperate with recent developments in swarm technologies, including mission-based administration, to provide farmers with a complete suite of soil management tools. UAVs designed for providing farming assistance are making it feasible for farmers to easily capture a bird's eye perspective of their fields in order to maintain and govern the farms properly. This dramatically lowers operating time, leading to greater steadiness in farm production, as well as precision. Various applications have helped several aspects of agriculture [26; 28], including searching and applying fertilizer and pesticides, finding and eliminating weeds, sowing seeds, determining productivity and mapping out the land. Researchers have proposed a system [29] that utilizes UAV pictures to identify weeds prematurely in an Australian chili crop. The yield elevation of maize and sorghum crops in a farming field was also measured using UAV pictures [30]. Researchers have also [31] suggested a unique approach to taking UAV photos of farming fields and rebuilding three-dimensional images to observe the growth characteristics of the crops. UAVs are already being equipped with smart devices to conduct a variety of tasks in smart farming, including monitoring field conditions [32], collecting meteorological data, including temperature, humidity, wind speed, and air movement, among others [33], and improving crop yield [28].  
In order to demonstrate real-time measurement impacting the amount and quality of grape yield, researchers have linked wireless sensor networks with a smart UAV system [34]. A UAV equipped with smart aerial sensors was created by [PERSON] et al. [35] to record the grain volume within a trailer while forage is being harvested. [PERSON] et al. [36] have demonstrated the use of UAVs in solving a variety of challenges relating to palm oil plantation, including yield prediction, disease detection, and pest monitoring. Despite all of these UAV developments, numerous problems remain that must be addressed for improved deployment, including energy drain of UAVs, security hardening against cyber attacks, managing long communication distances, and carrying payloads [27; 37]. For instance, since energy is a limited resource for UAVs, [PERSON] et al. have concentrated on lowering energy usage in UAVs [38] but security against cyber attacks to prevent intrusion is still a critical challenge.