I. Introduction
A drone is an aircraft that can fly with no pilot onboard. Drones offer a myriad of new potential applications in several domains including agriculture, geographic mapping, healthcare, shipping, and shopping [1]. Drones provide a variety of services such as inspection, sensing, and delivery [2]. Amazon and other large corporations are making efforts to commercially use drones for delivery. Drones provide faster and cost-effective delivery services [3]. Delivery drones differ from ground vehicles which are constrained by road infrastructure and traffic congestion.