In the wake of new scientific developments, speculations shot up with regard to the future potential of drone in the context of public and civil domains. Drones are believed to be of immense advantage in these domains, especially in support of public safety, search and rescue operations and disaster management. In case of natural or man-made disasters like floods, Tsunamis, or terrorist attacks, critical infrastructure including water and power utilities, transportation, and telecommunications systems can be partially or fully affected by the disaster. This necessitates rapid solutions to provide communications coverage in support of rescue operations. When the public communications networks are disrupted, drones can provide timely disaster warnings and assist in speeding up rescue and recovery operations. drones can also carry medical supplies to areas that are classified as inaccessible. In certain disastrous situations like poisonous gas infiltration, wildfires, avalanches, and search for missing persons, drones can be used to play a support role and speed up SAR operations . Moreover, drones can quickly provide coverage of a large area without ever risking the security or safety of the personnel involved.