## 1 Introduction  
As the number of parcel deliveries is increasing every year, the logistics industry faces various problems such as traffic congestion and labor shortages, while truck drivers are aging and decreasing in number. Unmanned delivery technology using unmanned aerial vehicles (UAVs) can solve these issues. [PERSON], et al. presented comprehensive review of UAV applications in last-mile logistics, emphasizing their role in alleviating labor shortages and urban traffic challenges [1]. The discussion focuses on the challenges facing delivery systems, such as labor shortages and traffic congestion in urban areas, and the use of unmanned aerial vehicles and autonomous robots in last-mile logistics. [PERSON], et al. systematically reviewed the role of UAVs in last-mile delivery and identifies technical and operational challenges [2]. It also discusses multiple delivery strategies and route optimization approaches. [PERSON], et al. systematically reviewed the latest research trends and issues related to UAV-based delivery systems [3]. In particular, it discusses in detail the importance of selecting the power source for UAVs (fuel cells, batteries, solar cells, super capacitors) and energy management systems. [PERSON], et al. examined the optimization of fleet design for UAVs used for package delivery, taking into account energy consumption [4]. It analyzes the aircraft conceptual design process in detail, from determining typical mission requirements to optimizing design variables. [PERSON], et al. studied the ability of UAVs to drop off packages using rotational movements in the air [5]. In particular, it details the design of the basket that holds the package, which is achieved by the UAV performing rapid upside-down aerial maneuvers. [PERSON], et al. analyze the efficiency improvements and communication performance of a hybrid logistics system that combines ground vehicles and UAVs [6]. In particular, they focused on the efficiency improvements of \"last-mile\" delivery through the coordination of delivery trucks and UAVs. Currently, any UAV can fly only in the approved airspace. [PERSON], et al. reviewed UAV navigations and proposed a navigation control system for UAVs using visual-LiDAR odometry and mapping (VLOAM) based on real-time processing of video [7]. However, this method has a major problem of the power consumption and the ability to perform a large amount of computation in real time. Therefore, [PERSON], et al. divided the map into three layers: awareness, local, and global. Then, they divided the computation process into three parts to optimize the computation process and the power consumption [8]. [PERSON], et al. discussed a UAV traffic management system that utilizes 6G network technology; their study presents issues and solutions for large-scale UAV operations [9]. In particular, the roles of communication infrastructure and network design are emphasized. [PERSON], et al. discussed methods for optimizing delivery routes using multiple UAVs [10]. They focused on the economic and environmental efficiencies of UAVs. [PERSON], et al. proposed a hybrid differential evolution (HDE) algorithm for UAV route optimization in 3D environments [11]. [PERSON], et al. proposed a novel path planning method for UAVs, evolving waypoints separately to optimize route efficiency and adaptability under constraints [12]. [PERSON], et al. introduced an improved particle swarm optimization algorithm with a global best path competition mechanism to enhance UAV path planning efficiency [13]. [PERSON], et al. developed a GPU-accelerated genetic algorithm for fast path planning of fixed-wing military UAVs, optimizing computational performance and planning quality [14]. [PERSON], et al. proposed a modified wolf pack search algorithm to efficiently solve 3D path planning problems for UAVs, ensuring obstacle avoidance and energy efficiency [15]. [PERSON], et al. introduced a dynamic local path planning method combining laser rangefinder data and extended SVM, which is applicable to outdoor robots and UAVs [16].