  The communication system is a critical part of the system design for the
autonomous UAV. It has to address different considerations, including
efficiency, reliability and mobility of the UAV. In addition, a multi-UAV
system requires a communication system to assist information sharing, task
allocation and collaboration in a team of UAVs. In this paper, we review
communication solutions for supporting a team of UAVs while considering an
application in the power line inspection industry. We provide a review of
candidate wireless communication technologies {for supporting communication in
UAV applications. Performance measurements and UAV-related channel modeling of
those candidate technologies are reviewed. A discussion of current technologies
for building UAV mesh networks is presented. We then analyze the structure,
interface and performance of robotic communication middleware, ROS and ROS2.
Based on our review, the features and dependencies of candidate solutions in
each layer of the communication system are presented.
