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).