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This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search and rescue missions. Multiple multicopters are coordinated using a distributed control system. The system is implemented in the Robot Operating System (ROS) and is capable of providing a real-time video stream from a UAV to one or more base stations using a wireless communications infrastructure. The system supports a heterogeneous set of UAVs and camera sensors. If necessary, an operator can interfere and reduce the autonomy. The system has been tested in an outdoor mission serving as a proof of concept. Some insights from these tests are described in the paper.

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With video streaming becoming more and more popular, the number of devices that are capable of streaming videos over the Internet is growing. This leads to a heterogeneous device landscape with varying demands. Dynamic Adaptive Streaming over HTTP (DASH) offers an elegant solution to these demands. Smart adaptation logics are able to adjust the clients' streaming quality according to several (local) parameters. Recent research indicated benefits of blending Scalable Video Coding (SVC) with DASH, especially considering Future Internet architectures. However, except for a DASH dataset with a single SVC encoded video, no other datasets are publicly available. The contribution of this paper is two-fold. First, a DASH/SVC dataset, containing multiple videos at varying bitrates and spatial resolutions including 1080p, is presented. Second, a toolchain for multiplexing SVC encoded videos is provided, therefore making our results reproducible and allowing researchers to generate their own datasets.