Real-time forest fire perception, monitoring and measuring is a very complex problem of that requires the fusion of different types of sensors and cameras. Using several cooperating aerial robots (drones) is an ideal approach to gather high quality images and measurements at different vantage points suitable for fire status estimation and to process them in a decentralized manner exploiting on-board drone computation capacity. This presentation will summarize different approaches, schemes, methods and will present some results obtained in wildfire experiments.