I. Introduction
The drone market has left the nascent stage and broken into the mainstream. No one can deny the fact that the drone industry has seen a spike in market growth in the last couple of years, and the global drone market is estimated to surpass USD 63.5 billion by 2025 [1]. In order to enable heterogeneous drones to autonomously connect over the Internet, the Internet of Drones (IoD) paradigm [2] has been created to generate a network of interconnections among drones as well as ground base stations. The IoD paradigm is widely envisioned as the enabling framework that supports various emerging and potential applications such as target tracking [3], parcel delivery [4], precision agriculture [5], etc. In the era of pervasive intelligence, we envision that the IoD technology will have the potential to transform every aspect of our lives for good within a very short period [6].