5.1.3 The Leader Drone Roles:
The LD first gets the required network configuration and mission information file from a dedicated server in the BS during the self-configuration process, then it authenticates the SDs to create a drone swarm. Also, it obtains an area map of GPS coordinates. Then the LD starts taking off leaving the BS followed by the SDs, and broadcasts periodic messages of its position so other SDs can calculate and position themselves within the flying swarm, and when arriving it chooses the coordinates of the center of the first street as a destination and assigns relevant GPS coordinates for each SD to land at; technically each slave drone is responsible for testing individuals of one house per sub-task.
Now, all drones are landed and the LD has almost an equal number of SDs on each side creating the least distance between itself and the furthest SD for better communication, it enters the power-saving mode by turning off unnecessary functions, i.e. turning off propellers, then collects the status reports from SDs periodically and sends a periodic swarm status report to the BS. After all, SDs are done, the LD takes off to the next group of houses to be scanned using pre-given GPS information followed by SDs, and the same process of deploying and testing starts again. Later, when the whole target area is scanned, the drone swarm returns to the BS (drone homing).