Li, KaiLu, NingZhang, PeiNi, WeiTovar, Eduardo2020-10-282020978-1-7281-5497-8http://hdl.handle.net/10400.22/16367In this paper, a multi-hop airborne system is built based on Bluetooth 5 connected autonomous drones to relay real-time data of Internet of Things (IoT). A new lightweight Onboard Bluetooth Transceiver (OBT) is developed for reliable drone-to-drone and drone-to-ground communications. A graphical user interface is presented to monitor real-time flight trajectory of the drones and end-to-end data delivery. Outdoor experiments are conducted in real world to test autonomous flight control of the drones and received signal strength of the OBT communications.engAutonomous dronesAerial data relaySystem testbedExperimentsother10.1109/IPSN48710.2020.00-14