Abstract
The use of unmanned aerial vehicles or drones are a valuable technique in coping with issues related to life in the general public's daily routines. Given the growing number of drones in low-altitude airspace, linking drones to form the Internet of drones (IoD) is a highly desirable trend to improve the safety as well as the quality of flight. However, there remain security, privacy, and communication issues related to IoD. In this paper, we discuss the key requirements of security, privacy, and communication and we present a taxonomy of IoD based on the most relevant considerations. Furthermore, we present the most commonly used commercial case studies and address the latest advancements and solutions proposed for the IoD environments. Lastly, we discuss the challenges and future research directions of IoD.