I. Introduction
The technological developments in unmanned aerial vehicles (UAVs) since the last decade have enabled the use of multi copter vertical takeoff and landing (VTOL) vehicles in many diverse civilian applications. Tech giants like 7-eleven, Amazon, and Google [1] have been doing trials to use commercial drones to deliver their local shipments since 2016. Drones are already utilized in 130 nations, thanks to a dramatic increase in the commercial drone industry over the previous decade [2]. This commercial growth of drones has resulted in an everlasting impact on society and our behaviors [3]. Recent U.S. laws have enabled development of UAVs capable of flying autonomously beyond line of sight [4]. This has been made possible due to the increase in their robustness owing to improved software algorithms and hardware designs equipped with accurate airborne sensors.