I. Introduction
The drone or UAV industry has been growing rapidly in recent times and has various application in agriculture, construction, and military sector [1]. In the coming years, UAV industry is predicted to continue experiencing exponential growth [2]. With the increasing number of applications for UAVs, new challenges arise, such as the noise pollution generated by the propeller rotations when the UAVs fly at low altitudes [3]. This will become a serious problem if UAVs is flying in urban or disaster-prone areas.