5.1.2 The Slave Drone Roles:
The SDs generally have identical payloads and mission procedures. When a SD is selected, it updates certain parameters through the self-configuration phase including; network configuration, authentication with the LD, swarm member ID for swarm positioning, and future communications. When the swarm is ready to fly, a SD follows the LD as a reference to position itself within the swarm according to its ID to avoid colliding with other drones. When arriving, it lands according to the assigned coordinates and enters the power-saving mode by switching off unneeded functions, e.g. turning off propellers. A SD provides the LD with status reports periodically. It informs the householder of its presence and senses the person’s approach through a mounted motion detection sensor. Then it gives guidance instructions for getting the required information by measuring the vital signs of a person, including the body temperature, heart rate, oxygen saturation of the blood (SpO2), blood pressure, and respiratory rate, through recording a video for his/her face and processing the images onboard as in [34], a detailed primary screening process is shown in Figure 4.
A SD applies a COVID-19 triage process (CT-process) to the measured data to classify the case severity into four categories, as mentioned in Table 3, which are; healthy or green, suspected or yellow, confirmed or orange, and emergent or red. If the case is marked with green or yellow, then only precaution instructions are given by the SD through the loudspeaker. However, if it is labeled orange or red then it might need a doctor’s consultation, so a case report is sent to the LD, which in turn sends it to the BS. Then if needed, a live video call is established between a local clinic doctor and the patient through the LD and SD. After testing, the person’s ID is scanned, e.g. passport or national ID. After testing one person, a test results report is sent to the LD if it is positive. If the case requires more attention, a video call is placed between the patient and a remote doctor and is handled through the SD and LD. Then the same procedure is repeated for other family members and when all are tested, the slave drone puts itself in sleep mode, waiting for further instructions from the LD.