  In this paper, we propose a joint indoor localization and navigation
algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a
specific spatial formation in indoor environments. In the envisioned scenario,
we consider a static user acting as a central unit whose main task is to
acquire all the UAV measurements carrying position-dependent information and to
estimate the UAV positions when there is no existing infrastructure for
positioning. Subsequently, the user exploits the estimated positions as inputs
for the navigation control with the aim of deploying the UAVs in a desired
formation in space (formation shaping). The user plans the trajectory of each
UAV in real time, guaranteeing a safe navigation in the presence of obstacles.
The proposed algorithm guides the UAVs to their desired final locations with
good accuracy.
