  This document addresses the description of the corresponding "Urubots" Team
for the 2024 Fira Air League, "Air Emergency Service (Indoor)." We introduce
our team and an autonomous Unmanned Aerial Vehicle (UAV) that relies on
computer vision for its flight control. This UAV has the capability to perform
a wide variety of navigation tasks in indoor environments, without requiring
the intervention of an external operator or any form of external processing,
resulting in a significant decrease in workload and manual dependence.
Additionally, our software has been designed to be compatible with the
vehicle's structure and for its application to the competition circuit. In this
paper, we detail additional aspects about the mechanical structure, software,
and application to the FIRA competition.
