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As an emerging field of aerial robotics, Unmanned Aerial Vehicles (UAVs) havegained significant research interest within the wireless networking researchcommunity. As soon as national legislations allow UAVs to fly autonomously, wewill see swarms of UAV populating the sky of our smart cities to accomplishdifferent missions: parcel delivery, infrastructure monitoring, event filming,surveillance, tracking, etc. The UAV ecosystem can benefit from existing 5G/B5Gcellular networks, which can be exploited in different ways to enhance UAVcommunications. Because of the inherent characteristics of UAV pertaining toflexible mobility in 3D space, autonomous operation and intelligent placement,these smart devices cater to wide range of wireless applications and use cases.This work aims at presenting an in-depth exploration of integration synergiesbetween 5G/B5G cellular systems and UAV technology, where the UAV is integratedas a new aerial User Equipment (UE) to existing cellular networks. In thisintegration, the UAVs perform the role of flying users within cellularcoverage, thus they are termed as cellular-connected UAVs (a.k.a. UAV-UE,drone-UE, 5G-connected drone, or aerial user). The main focus of this work isto present an extensive study of integration challenges along with key 5G/B5Gtechnological innovations and ongoing efforts in design prototyping and fieldtrials corroborating cellular-connected UAVs. This study highlights recentprogress updates with respect to 3GPP standardization and emphasizessocio-economic concerns that must be accounted before successful adoption ofthis promising technology. Various open problems paving the path to futureresearch opportunities are also discussed.

A Survey on Cellular-connected UAVs: Design Challenges, Enabling 5G/B5G Innovations, and Experimental Advancements