The work presented in this thesis, carried out at LaBRI, deals with the set up of a fleet of UAVs and the porting on it of distributed collaborative applications that use unsafe asynchronous communications. These applications are modeled with Asynchronous Dynamicity Aware Graph Relabeling System (ADAGRS), the formal model based on graph relabellings that we propose.Beyond the theoretical contributions, this work led to the development of the CARUS demonstrator in which five UAVs share the supervision of a grid of 15 points of potential ground incidents.When a UAV detects an incident, it comes close to it in order to deal with it. The rest of the fleet must then take care of the points that this UAV no longer visits.The necessary reorganizations of the fleet are done in total autonomy with respect to the ground and under the hypothesis of possible loss of UAVs and messages.
