## 5 Conclusions and Future Works  
Overall, the tests carried out in the farm were deemed as satisfactory. When the herd of sheep was monitored, information about their whereabouts from a remote location was gathered in a reliable manner. These advantages enabled farmers and farm staff to save a significant amount of time because they could take visual control of the situation in a few minutes. Should they have performed these actions in a traditional way, they would have needed to move from one point to another either on foot or by using vehicles (thus, the proposed system helps in both saving fuel by not having to physically move and avoiding the emission of greenhouse gases into the atmosphere), so this also translates into economic and environmental savings for farmers and farm staff. The fact that the animals reacted in the desired way to the stimulus produced by the UAV when they were in the countryside was also of most interest. It must be noted, though, that sheep usually move all together without breaking the unity of the herd, which makes handling the whole a more doable task. Other animals of more individualistic nature (bulls, horses) are likely to be harder to track. From our point of view, there are several innovations that have been performed because of the research and development work done in this manuscript. They are strongly linked to the contributions that the paper offers, along with the design, implementation, and testing work:  
1. Tailored UAV and FPV systems. Rather than using a commercial solution or some hardware reused from a different project, an UAV specifically built for the purpose shown in this manuscript has been described from two different points of view: (a) on the one hand, the information compiled from professional staff working in cattle monitoring and guiding throughout the countryside and (b) the studied State of the Art and its remaining open issues. With these two contributions a list of functional and non-functional requirements was developed, both for the UAV and the other subsystems of the developed solution, that provided guidelines and boundaries for the kind of UAV to be used, especially in terms of the radio transmission equipment (which had to be suited to the distances and needs of the farmers, so they could monitor the animals from a distance ranging in kilometers) and the FPV equipment to be used in visualizations (i.e., what kind of goggles to use). To the best of our knowledge, there is no other research work that offers this kind of solution based on requirements obtained both from previous research work and interviews from end users in this application domain. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Experiment Performed** & **Expected Result** & **Obtained Result. Deviations** \\ \hline UAV flight over flat terrain. & Flight where UAV will show its performance. & Regular flight where UAV behaved accordingly. \\ UAV flight over & Flight where UAV will show its performance. & Regular UAV flight, but it had unsatisfactory landing. \\ hilly/rocky terrain. & Flight where the UAV will be used to monitor cattle from a certain altitude. & Regular flight where UAV behaved accordingly. \\ UAV shepherd-like flight. & Flight where the UAV will be used to group cattle. & Cattle and UAV behaved accordingly. Likely to reduce effectiveness over time. \\ Data collection from UAV. & Images obtained from the UAV flight. & Images obtained from the UAV flight. \\ Data sharing via blockchain. & Data will be incorporated onto a tailored blockchain. & Data was incorporated onto a tailored blockchain. \\ Data sharing via IPFS. & Data will be shared among IPFS network participants. & Data was added to the IPFS network. Caching information was used. \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Experiments performed and comparison between expected and obtained results. 2. Usage of blockchain for UAV information storage.