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The response time to emergency situations in urban areas is considered as a crucial key in limiting material damage or even saving human lives. Thanks to their “bird's eye view” and their flexible mobility, Unmanned Aerial Vehicles (UAVs) can be a promising candidate for several vital applications. Under these perspectives, we investigate the use of communicating UAVs to detect any incident on the road, provide rescue teams with their exact locations, and plot the fastest path to intervene, while considering the constraints of the roads. To efficiently inform the rescue services, a robust routing scheme is introduced to ensure a high level of communication stability based on an efficient backbone, while considering both the high mobility and the restricted energy capacity of UAVs. This allows both predicting any routing path breakage prior to its occurrence, and carrying out a balanced energy consumption among …