Unmanned Aerial Vehicles (UAVs), previously favored by enthusiasts, have evolved into indispensable tools for effectively managing disasters and responding to emergencies. For example, one of their most critical applications is to provide seamless wireless communication services in remote rural areas. Thus, it is substantial to identify and consider the different security challenges in the research and development associated with advanced UAV-based B5G/6G architectures. Following this requirement, the present study thoroughly examines the security considerations about UAVs in relation to the architectural framework of the 5G/6G system, the technologies that facilitate its operation, and the concerns surrounding privacy. It exhibits security integration at all the protocol stack layers and analyzes the existing mechanisms to secure UAV-based B5G/6G communications and its energy and power optimization factors. Last, this article also summarizes modern technological trends for establishing security and protecting UAV-based systems, along with the open challenges and strategies for future research work.
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