For clarification, containment and combat of large danger areas, fast and flexible survey of potentially contaminated areas is an emerging challenge. In this paper we present a project that focuses on incidents, that are caused by uncontrolled emissions of liquid or gaseous contaminants (e.g. explosive or toxic gases or liquids, biological, chemical or nuclear weapons). Instead of sending specially equipped forces with expensive transport and measurement devices into the contaminated area, our proposed system makes use of an autonomous, wireless connected swarm of micro unmanned aerial vehicles (MUAV), often simply known as drones, that are featured with lightweight mobile sensor systems. In this paper we will be particularly focusing on the complex communication system, which on the one hand has to organize the on-board-communication between the control systems of the MUAV and the sensors and on the other hand has to establish wireless connections to the mission control center on the ground as well as to neighboring MUAVs in the air via a mesh network.