Unmanned Aerial Vehicles (UAVs), as popularly known by Drones, are already part of our everyday life, mainly due to their attractive cost and popularity. Beyond military applications, where Drones have broad prominence, numerous applications have been proposed for many different areas (e.g., search/rescue missions, construction/inspection, product/food delivery, surveillance). At this stage, Drones are enabling a new set of applications and services for civilians and security forces (e.g., firemen, policemen) with exclusive aerial perspectives, enhancing search/rescue/surveillance missions over emergency scenarios.