Nowadays, Unmanned Aerial Vehicles (UAVs) applications are crucial in several domains, either civilian or military as these systems are mainly used within hostile environments while ensuring user integrity or industrial and academic sectors while coping with specific needs and services. For instance, UAVS are significantly used in the field research missions, as for example volcanic-activity’s monitoring, climate change studies, crowds-management, management/surveillance and epidemiological tracking. Multi-Agent Systems (MASs) represent a trending topic in the UAVs field since the related literature shows that many applications are enhanced. Indeed, MAS is an ensemble of individual agents sharing some information to achieve a collective objective, as the cooperation could enhance the effectiveness of the mission accomplishment with respect to the action of a single agent.