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.