# Flying Watchdog-Based Guard Patrol with Check Point Data Verification
## 1 Introduction  
In recent years, the flying Internet of Things, commonly called drones, has rapidly evolved, permeating various domains such as surveillance, defense, logistics, cartography, and search and rescue [1; 2; 3; 4; 5]. This research focuses on the specific application of drones in security monitoring. Within this context, drones play a pivotal role by either augmenting or substituting human involvement in routine patrols and perimeter inspections to preempt unauthorized access to restricted areas. Drones employed for security monitoring are equipped with sophisticated cameras and sensor arrays, enabling them to detect anomalous activities and issue timely alerts [6; 7; 8; 9]. The primary advantage of aerial surveillance platforms is their ability to offer a comprehensive and adaptable field of view. Consequently, this technology is relevant in defense operations, spanning military and civilian installations, including warehouses, factories, farms, and mining facilities [10; 11; 12; 13; 14]. The drones designed for this purpose exhibit autonomous flight capabilities, executing predefined flight paths and even incorporating artificial intelligence algorithms for adaptive navigation. However, it is crucial to note that the term \"fully autonomous\" is somewhat misleading, as human intervention remains indispensable in several critical aspects of drone operation. These include the initial power-up procedures, pre-flight system assessments, hardware diagnostics, waypoint establishment, and task allocation. Drones are valuable for collaborating with human operators to ensure adequate security monitoring [15; 16; 17; 18; 19]. Operators areresponsible for overseeing drone flights, maintaining consistency in executing scheduled perimeter checks, and, in essence, utilizing these airborne platforms as an innovative form of flying closed-circuit television (CCTV). This symbiotic relationship between drones and human operators significantly enhances security measures in various sectors. This research addresses the limitations inherent in drone-based and human patrol surveillance methods. Drones with camera-based detection systems often struggle in adverse environmental lighting conditions, restricting their object detection capabilities to favorable lighting scenarios [20; 21]. Conversely, human patrols encounter challenges related to task consistency, particularly during perimeter checks. This study proposes implementing an automated system that coordinates the efforts of drones and human patrols through remote monitoring and perimeter sign-in methods. Currently, the prevalent technologies for drone check-ins rely on markers or QR code detectors, primarily applied in drone delivery contexts and limited by specific lighting conditions. Meanwhile, human patrol check-ins typically involve Radio Frequency Identification (RFID) stationary systems [22; 23]. This research explores innovative solutions to enhance surveillance capabilities, mitigate limitations, and improve security measures in various operational scenarios. With all existing technology and issues, we propose the creation of a cutting-edge Flying Watchdog System capable of location recognition using distinct glowing markers. As part of this system, drones employ laser data transmission to a Portable Glowing Pad (PGP) acting as the receiver. The laser's low-angle beam or single-point transmission ensures precise drone positioning directly above the designated check-in location. This development of a Flying Watchdog Guard Patrol system is structured around three primary focal points:  
* Light pattern detection with vision-based technology;
* Laser data communication through the air;
* Drone check-in pad with remote monitoring capability. A critical aspect of this research involves the utilization of LEDs with varying shapes and colors as markers. The OpenCV algorithm enables color and shape detection in low-light conditions, ensuring robust performance in the dark.