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Internet of Drones (IoD) architecture is designed to support a co-ordinated access for the airspace using the unmanned aerial vehicles (UAVs) known as drones. Recently, IoD communication environment is extremely useful for various applications in our daily activities. Artificial intelligence (AI)-enabled Internet of Things (IoT)-based drone-aided healthcare service is a specialized environment which can be used for different types of tasks, for instance, blood and urine samples collections, medicine delivery and for the delivery of other medical needs including the current pandemic of COVID-19. Due to wireless nature of communication among the deployed drones and their ground station server, several attacks (for example, replay, man-in-the-middle, impersonation and privileged-insider attacks) can be easily mounted by malicious attackers. To protect such attacks, the deployment of effective authentication, access …