# The Internet of Drones: Requirements, Taxonomy, Recent Advances, and Challenges of Research Trends
## 6 Recent Advancements
In addition, comparative analysis shows that the proposed scheme offers better conditions for security and reliability and also has fewer overheads for computational and communication compared to similar schemes. However, the proposed scheme required more investigation of blockchain technologies to support deployment in a real IoD environment. [PERSON] et al. [66] presented a scheme of joint learning segmentation combined with a model of conditional random-field and designed model based-enhanced U-net to improve the accuracy of object segmentation and to solve the problem of inappropriate edge recognition. The findings of the presented scheme indicated that the precision of the segmentation of the ground object increased up to 86.1%, which is a promising development. [PERSON] et al. [2] introduced a framework for authentication to protect privacy. The framework guarantees the efficiency of authentication when deployed on resource-constrained small-scale UAVs using the lightweight online/offline signature design. The presented framework is enabled to predict authentication by exploring mobile edge computing (MEC) in view of the high mobility of UAVs to further reduce the cost of authentication for future authentication activities. Moreover, the framework allowed privacy security in terms of the UAV identity, location, and flying routes by developing a username buffer and updated strategy of the public key. However, the study is missing the use of formal analysis to compare current authentication schemes in detail. [PERSON] [3] designed a framework for UAV environment authentication using elliptic-curve crypto-systems. The proposed framework was tested to ensure that it is immune to substantial well-known possible data confidentiality, shared authentication, password guessing, and key impersonation related attacks. However, the study has not covered privacy issues. [PERSON] et al. [25] proposed a framework for a security based-neural network, which implements MAC protocol managed by the length of Macaulay. The proposed framework enhances the sufficient duration of comprehensive control over ties to enhance the security aspects of IoD and introduces countermeasures against identified cyberattacks. However, the proposed framework does not support the combination of a security protocol with channel authorization and real-time performance. [PERSON] et al. [67] designed a framework to secure the architectures based drone for software and hardware. The framework holds a holistically built ecosystem ranging from electronic components to applications. Moreover, the framework enabled a tightly integrated solution for multi-vendor and scalable drone embedded architecture and an appropriate tool-chain. The problems of latency and computing capacity, on the other hand, are not fully discussed. [PERSON] et al. [68] suggested a protocol that depends on congestion, which offers both symmetric reliability and congestion control based on rate adjustment. The protocol aims to minimize packet drops, maintain fairness, and boost energy quality. In addition, the protocol offers greater energy effectiveness and efficiency. However, the proposed protocol does not cover security and privacy issues. [PERSON] et al. [54] presented a mechanism to enhance protocol solution as an amalgam with the opportunistic routing mechanism. The mechanism kept monitoring the history of the encounter and the transitivity of encounter time. The analysis of the improved mechanism has been further checked and a substantially improved performance in terms of publisher bandwidth, latency, and run time has been observed. The findings of the proposed mechanism showed efficiency improvement for both memory usage and energy dissipation. However, although the problems of latency and computing power have been mitigated, there are concerns of bandwidth that remain unresolved. [PERSON] et al. [69] suggested a mechanism of access control for unauthorized UAV detection and mitigation.