This paper is the deliverable D4.1 Design choices and initial integration activities for UAV and UGV enabled use cases of the Task 4.1 On-board and ground servers and radio links for UAVs/drones and Task 4.3, Robots for dangerous environments and support missions. The goal of this document is to describe and present the design choices of the systems, that will cover the needs of the Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) use cases, in terms of hardware and software choices. The choices for the design of the system play a crucial role for the successful integration of the different technologies, incorporating the operational and system requirements described in WP2. A first version of the envisaged integration activities is reported, highlighting the significance of a detailed strategy to make all systems come together in a structured, consolidated, and safe way.