In recent years, the ICT sector has been playing a key role in the growth of the smart city concept through the widespread application of IoT devices. This evolution is mainly driven by the spread of wireless networks, which have enabled wireless communication between heterogeneous machines via the Internet. However, the coverage of these wireless networks is still limited and needs to be extended in peripheral areas where routers and access points are not installed. This problem is extremely aggravated in the case of geographical constraints and natural disasters, where the wireless network could fall taking an entire area offline. To partially solve these critical situations, the research community has recently proposed the creation of a network of IoFT objects called Unmanned Aerial Vehicles (UAVs) capable of covering hard-to-reach areas.