I'd think some geek in the city's communications department would LOVE to implement this and already has information on how to do it. They might already be doing it.

Look for a hobbyist forum.
Visit the shop where you'll buy the drones and ask them.
Contact drone manufacturers. People who want to pump out product want to profit by making their products useful in more ways, so it makes sense that they might have some idea.
Some HAM radio operators in your area might have an idea, too.

You might find that use of this by city or county facilities requires that all the equipment meet stringent operational and security requirements, as, for instance, some of this footage* might be used to convict or acquit someone in a legal situation, e.g. starting a forest fire.


*Footage. As though all the pixels were in a long string. But what accurate word can we use?