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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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