I. Introduction
In the last decades, a drone has been widely applied and developed in different sectors, such as for surveillance in the city [1], mitigation and rescue [2], photography [3], precision agriculture [4], swarm drones for performing [5], exploration [6], and especially for the military [7]. There are several reasons that drones have been widely applied, due to their advantages such as vertical take-off and landing, hovering, maneuverability, and low cost needed.