This work proposes an alternative to trajectory planning systems for indoor drones
navigating in static environments without external positioning devices. The approach is
geared towards the control of four aerial vehicles. The system was based on discrete path
planning techniques, and its design was conditioned by the dynamic constraints of drones.
This led to obtain an algorithmic strategy and software to generate automatic flight paths.
System capabilities were tested using Tello EDU mini drones and their proprietary