A systematic mapping study to Internet of Drones

FP Guidottia,*
a Institute of Mathematics and Computer Science, University of São Paulo, São Carlos, Brazil

ARTICLE INFO ABSTRACT

Keywords: This study aims to provide a basis for software architecture research for Internet of Drones (IoD)
Internet of Drones through a systematic review of previous work. The review identifies 18 primary studies related to
Software architecture the IoD architectures and communication, which are available in literature review. The review results
UAV in this systematic mapping study that try to answer two questions: 1.) What architectures are being
Systematic Mapping used? 2.) What communication architecture are being used? A preliminary analysis shows than no
exists a specific software architecture to develop any application. We believe that the results of this
literature review would be useful for both researchers and UAVs users.

1. Introduction
Unmanned Aerial Vehicles (UAVs) were initially designed
for military purposes during the World War II [Springer,
2013]. Nowadays UAVs have been employed for differ-
ent applications in security, environmental monitoring and
data collection, among others. These applications can find a
place in areas such as precision agriculture, defense, disas-
ter management and weather forecasting [Mohammed et al.,
2014]. The Internet of Drones (IoD) is an architecture of
control of layered network primarily designed to coordinate
the unmanned aerial vehicle access service and to controlled
airspace. IoD provides for the services in transport systems,
traffic monitoring, photometry, smart cities, smart agricul-
ture and fields of application of disaster recovery. The IoD
requires adequate communication platform.
In agriculture, there is a need for collecting and pro-
cessing data about different crop fields. We can use such
information to predict productivity of the crop by assisting
the decision making process. However, UAVs usually have
embedded systems with limited computational capacity and
low power resources, which are a relevant challenge to real-
time data processing [Luo et al., 2015].
The software architecture defines features of the sys-
tem, while the relevance of a well-designed architecture de-
fines the success of the system [Bass et al., 2003], Fig. 1
shows a conceptual example on software architecture. De-
veloping an appropriate software architecture leads to a bet-
ter use of computational resources to retrieve and process
flight data. To defining such architecture implies steps such
as the architecture design, software modelling, implemen-
tation and testing. One way to carry out the process in
a methodological way is to use the IEEE ISO/IEC/IEEE
42010 [ISO/IEC/IEEE, 2011]. There are studies reporting
UAVs within several real-world scenarios [Arantes et al.,
2015, 2016, Loke, 2015, Mahmoud and Mohamed, 2015,
Motlagh et al., 2016, Zhang et al., 2010], but few of them
propose the development of architectures integrating UAVs
?
Corresponding author
guidotti@usp.br (F. Guidotti)
www.icmc.usp.br,apoioacad@icmc.usp.br ( )
ORCID (s): 0000-0001-5913-9371 (F. Guidotti)
Figure 1: Common software architecture structures. [Bass
et al., 2012].
within a platform to retrieve flight data [Koubaa and Quer-
shi, 2018, Vasisht et al., 2017].
A software architecture is the foundation of a software
system, because it gives an idea to the quality and long-term
success of the software. A proper design satisfies the re-
quirements and quality attributes. However, to my knowl-
edge, there are no systematic review on Internet of Drones.
This systematic review intends to summarize these findings
and shed some light on the software architecture application
to Internet of Drones.
The Figure 2 illustrates the word clouf formed from key
UAV and IoD architecture definitions in literature.
2. Systematic mapping approach
We present a systematic mapping study of the existing
Software Architecture for UAVs. Was conducted systematic
mapping study (SMS) following the protocols developed
for such studies Kitchenham and Charters [2007]. SMS its
used in this study to give an overview of a research area
through classification. Systematic maps are primarily con-
cerned with structuring a research area Kitchenham and Char-
ters [2007], Petersen et al. [2015], Silva et al. [2018].
We find appropriate an SMS to systematically study and
analyze existing literature relevant to architecture of IoD.
The research objective was to discover research about ar-
chitecture of IoD. The review protocol this study is based

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 A systematic mapping study to Internet of Drones
Figure 2: Word cloud formed from key UAV and IoD archi-
tecture definitions in literature.
on the guidelines proposed by Kitchenham et al. Kitchen-
ham and Charters [2007]. The review protocol consists of
four main phases for a systematic mapping study: Review,
Planning, Conducting and Reporting. The study purpose of
systematic mapping to Characterize the software architec-
tures available for Internet of Drones (IoDs).
2.1. Research questions
Was identified the following two research questions with
an aim to characterize the software architectures available
for Internet of Drones (IoDs) in the interests of researchers
question(RQs):
• RQ1: What software architectures are being used in
IoD?
• RQ2: Which communication models do the architec-
ture for IoD use?
2.2. Study selection strategy
The study selection strategy is crucial to find and select
complete and relevant literature. This step has to validated
in order to provide rigor to the systematic review.
2.2.1. Identify search terms and define search string
The search string was set by identifying keyword based
on the search questions. The main keyword identified was
"Internet of drones". As the theme is recent, it was necessary
to do a wide search in different repositories. The final search
string was: ("Internet of drones").
2.2.2. Identify repositories
The search repositories that we selected were:
• ACM Digital Library (http://portal.acm.org)
• El Compendex (http://www.engineeringvillage.com)
FP Guidotti: Preprint submitted to Elsevier
• IEEE Digital Library (http://ieeexplore.ieee.org)
• ISI Web of Science (http://www.isiknowledge.com)
• Science@Direct (http://www.sciencedirect.com)
• Scopus (http://www.scopus.com)
• Springer Link (http://link.springer.com)
2.2.3. Study selection
The study selection process was based on steps presented
in Table 1.
Initially, using the search string "Internet of Drones".
The found papers were filtered by reading their titles, key-
words, and abstracts using our inclusion and exclusion cri-
teria. Manually searched some of the journals and confer-
ences.
2.2.4. Study Quality Assessment (SQA)
Assessing the quality of a research article is an important
part of the selection process. The theme is new, so were not
considered the year and number of citations. Was selected
seven criteria to classify the studies based on their quality:
• Does the study recommend further research?
• Do the conclusions relate to the aim and purpose of
research defined?
• Has the approach been validated?
• Is there a description of the testing method or tech-
nique used in the research?
• Is there a review about the related work of the prob-
lem?
• Is the reader able to understand the aim of the re-
search?
• Does the paper include a discussion of related research?
The score ranges from 0 to 7.
The Answers:
• Yes
• Partially
• No
2.2.5. Inclusion criteria
1. The primary study is related to Internet of drones in
this context of software architecture,
2. The primary study purposes or used approaches to In-
ternet of drones architecture,
3. The primary study that used Internet of drones as key-
word for paper identification.
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 A systematic mapping study to Internet of Drones

Table 1
Summary of selection process
ACM El Compendex IEEE Web of Science Science@Direct Scopus Springer Total
After reviewing
1 17 14 12 10 79 6 139
titles/keywords
After manual search 1 5 3 5 9 66 6 95
After reading
0 4 2 3 2 21 2 34
abstracts
After skimming/
0 4 2 1 0 10 2 19
reviewing
After
0 4 1 1 0 10 2 18
discussion-final

Figure 3: Articles Per Source.

Table 2 4. The study does not discusses architecture software in

Quality Assessment IoD.
# Quality Score 2.3. Extract data
1 4.5
Based on our inclusion and exclusion criteria, 18 studies
2 5.5
3 6.5
are included, show in Table 4.
4 4.5
5 5.5 2.4. Data analysis
6 5.0 After extracting the relevant data from the primary stud-
7 4.5 ies, we analyzed the collected data to find answers to our
8 6.5
research questions. The Figure 3 shows articles per source.
9 5.0
45 articles were duplicated, 76 rejected and 18 accepted.
10 6.5
11 4.5 The Figure 4 shows the accepted articles per source. The
12 3.5 Figure 5 shows the articles per year.
13 6.5
14 4.0 2.5. Threats to validity
15 2.5
Its important to select the right keywords, but this is a
16 6.5
recent topic, so we only use "internet of drones" to find as
17 7.0
18 6.5 many studies as possible in electronic repositories. There
may still be some relevant documents that we may have
missed, however, we use our best efforts to identify the rele-
2.2.6. Exclusion criteria vant literature. The repositories mentioned above have been
used because they cover almost all major workshops, con-
1. The full text of the primary study is not available, ferences and journals in our field of study. We also re-
2. The primary study is a table of contents, short course searched journal articles from leading software engineering
description, dissertation/thesis, journals.
3. The primary study not written in English,

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 A systematic mapping study to Internet of Drones

Figure 4: Accepted Articles Per Source.

Figure 5: Final Articles Per Year.

3. Answering research questions

The Table 4 shows answering research questions.

4. Previous literature reviews and discussion

Gharibi et al. [2016] shows a conceptual model of how
such an architecture can be organized and we specify the
features that an IoD system based on our architecture should
implement. The Figure 7 shows its model.
The Motlagh et al. [2016] introduce a conceptual UAV-
based architecture for the delivery of UAV-based value-added
IoT services.
Figure 6: Journal and conference. Dronemap Planner are an innovative service-oriented cloud
based drone management system that provides access to drones
through web services and the Koubâa et al. [2017] imple-
2.6. Research results mented and validated it using simulated and real MAVLink
enabled drones. The Figure 8 illustrates the DroneMap sys-
The Table 3 illustrates the selected studies and year of tem architecture. Koubaa and Qureshi [2018] present the
publication. development and deployment of the DroneTrack, a real-time
The Figure 6 shows de % the studies the conference and object tracking application through the Dronemap Planner
journal. cloud platform. Koubâa et al. [2019] shows a service-oriented

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 A systematic mapping study to Internet of Drones

Table 3
Selected studies
# Author Title Year
1 Gharibi et al. Internet of Drones 2016
2 Motlagh et al. Low-Altitude Unmanned Aerial Vehicles-Based Internet of Things Services: Comprehensive Survey and Future Perspectives 2016
3 Koubâa et al. A service-oriented Cloud-based management system for the Internet-of-Drones 2017
4 Kharchenko and Torianyk Cybersecurity of the Internet of Drones: Vulnerabilities analysis and IMECA based assessment 2018
5 Boccadoro et al. A standard-compliant and information-centric communication platform for the internet of drones 2018
6 Burdziakowski UAV Design and Construction for Real Time Photogrammetry and Visual Navigation 2018
7 Wazid et al. Design and Analysis of Secure Lightweight Remote User Authentication and Key Agreement Scheme in Internet of Drones Deployment 2018
8 Krichen et al. Communication architecture for unmanned aerial vehicle system 2018
9 Lin et al. Security and Privacy for the Internet of Drones: Challenges and Solutions 2018
10 Wazid et al. Authentication protocols for the internet of drones: taxonomy, analysis and future directions 2018
11 Long et al. Energy Neutral Internet of Drones 2018
12 Sharma et al. On-demand ultra-dense cloud drone networks: Opportunities, challenges and benefits 2018
13 Koubaa and Qureshi DroneTrack: Cloud-Based Real-Time Object Tracking Using Unmanned Aerial Vehicles over the Internet 2018
14 Hong and Shi A cloud-based control system architecture for multi-UAV 2018
15 Edwin et al. An internet of drone (IoD) based data analytics in cloud for emergency services 2019
16 Safadinho et al. Communication Modes to Control an Unmanned Vehicle Using ESP8266 2019
17 Koubâa et al. Dronemap Planner: A service-oriented cloud-based management system for the Internet-of-Drones 2019
18 Chen and Wang Privacy Protection for Internet of Drones: A Network Coding Approach 2019

Table 4
Answering research questions
# RQ1: What architectures are being used? RQ2: What communication architecture are being used?
A layered network control architecture designed mainly for
1 coordinating the access of unmanned aerial vehicles to Mobile communication.
controlled airspace.
2 Clients/users Wireless.
DronemapA modular component-based software promoting,
3 where components are loosely coupled and eachcomponent Web Services, Websocket
implements a specific behavior of the application.
4 Network information. Wireless.
The standardization of information-centric architecture for
5 Wireless
the Internet of Things (IoT).
6 Server/user. Web services, websocket.
7 Client/server. Wi-fi
8 Star and mesh. Wireless.
9 A layered network control architecture. Wireless.
10 Client/server. Wi-fi
11 Centralized enIoD network architecture. Wireless.
12 Heterogeneous networks . Wireless.
DroneTrackA system architecture for multiUAV. The
architecture integrates UAV into Internet-of-Things (IoT)
13 Websocket and Web Service.
and cloud-robotics and allows to remotely control and
monitor multiple UAVs over the Internet at the same time.
Modular control system architecture that provides access
14 Web service, websocket.
to multiple UAVs.
15 Cloud Service Architecture.
16 Star and mesh. Wireless.
DronemapA modular component-based software promoting,
17 where components are loosely coupled and eachcomponent Web services, websockect.
implements a specific behavior of the application.
18 Client/server. Wireless.

cloud-based management system for the Internet-of-Drones. erence use case.

Kharchenko and Torianyk [2018] analyzed the Network
and cloud technologies for organization and management
of Multi-UAV systems, the authors used cloud services for
forming a new architecture IoD are allocated. The Figure 9
illustrates the network architecture of IoD.
Boccadoro et al. [2018], the contribution of study pro-
motes the adoption of the ICN-IoT framework, as a flexible
and effective communication bus for the Internet of Drones.
The ICN-IoT framework have been discussed through a ref-
The study by Burdziakowski [2018] presents the design
of UAV for real time photogrammetry, visual navigation,
real-time spectral data processing. The Figure 10 present
Drone Operating System architecture.
The authors Wazid et al. [2018a]propose a lightweight
user authentication scheme in IoD and for this adapted a IoD
architecture demonstrate in Figure 11. The authors in Wazid
et al. [2018b] identify the strengths and weaknesses of the
user authentication schemes for the IoD communication.

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 A systematic mapping study to Internet of Drones
Figure 7: Drones and ZSPs are components inside the
boundaries of the IoD system as depicted by the box. Out-
side components such as fuel stations, private or corporate
drone owners, governmental organizations such as weather
services or FAA interact with drones or ZSPs through stan-
dard protocols. Solid lines show some of the possible inter-
actions. Gharibi et al. [2016]
Figure 8: DroneMap System Architecture: Abstraction Lay-
ers. Koubâa et al. [2017]
Krichen et al. [2018] describes technologies and com-
munication systems that handle cooperation and traffic ex-
change between Unmanned Aerial Vehicles and Ground Con-
trol Station (UGS). The authors propose a holistic architec-
ture that involves Multi-UAVs, wireless sensor network, cel-
lular network, terrestrial control node and satellite for recov-
ery to get more reliable solutions and shows a multi UAV
processing architecture.
Lin et al. [2018] study the architecture and its security
and privacy requirements in drones.
Long et al. [2018] present a study of communication
and networking architectures and protocols for realization
of multi-dimensional in IoD.
Sharma et al. [2018] propose a idea of Ultra Dense Cloud-
Drone Network (UDCDN) architecture. This scheme is fea-
tured with “on-demand” quality and substantial flexibility in
FP Guidotti: Preprint submitted to Elsevier
Figure 9: Network Architecture of IoD: Data (D) and Com-
mand (C) Flow. Kharchenko and Torianyk [2018]
Figure 10: Drone Operating System architecture (based on
FlytOS architecture). Burdziakowski [2018]
terms of deployment. The Figure 16 shows a architecture in
real time only when it is needed, depending on the feedback
obtained from the cloud-stored database.
Hong and Shi [2018] presents a control system architec-
ture based on cloud platform which has been developed in
order to allow multiple users to control and monitor multi-
ple UAVs simultaneously irrespective of the location. The
Figure 12 shows the system architecture.
Edwin et al. [2019] working with drone architecture for
path planning and data collection for Emergency Services.
The Figure 13 present a drone cloud service architecture.
Safadinho et al. [2019] validated three architectures that
support the interaction with drones: The a Flying Ad-Hoc
Network (FANET), Dronemap Planner and architecture of
the systems that make possible the control of a UV through
a communication controller.
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 A systematic mapping study to Internet of Drones
Figure 11: IoD architecture). Wazid et al. [2018a]
Figure 12: System architecture overview. Hong and Shi
[2018]
Chen and Wang [2019] proposes an enhanced secure
pseudonym scheme to protect the privacy of cloud data in
Internet of Drones (IoD). The Figure 14 shows the typical
IoD cloud system used for surveillance.
5. Conclusion
In this systematic mapping study, we attempted to ana-
lyze state of the art in the area of architecture of IoD. We
were interested in studying how the research in evaluating
IoD architecture evolved and provided an analysis of the ex-
isting literature.
Our study shows that research on IoD architecture is
gaining momentum and is getting mature with more and
more researchers contributing. Based on our analysis of ex-
isting literature, we identified certain limitations in the cur-
rent body of knowledge and identified the following open
issues and future research directions in this domain that can
improve the way IoD architecture and communication inter-
act.
Although there exist publications proposing architecture
to drones and communication, this subject still has many
open questions for research. In particular, we believe that
FP Guidotti: Preprint submitted to Elsevier
Figure 13: Drone Cloud Service Architecture. Edwin et al.
[2019]
Figure 14: Typical IoD cloud system used for surveillance.
Chen and Wang [2019]
the IoD architecture poses many interesting research chal-
lenges that have not been addressed in the existing liter-
ature. In addition, drones are increasingly being used by
users of different areas. Thus, we believe that developing
the IoD architecture base with good usability requires inter-
disciplinary knowledge. We hope that this review provides
both the researchers and practitioners interested in IoD with
the useful ideas about how to develop this subject further.
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