The main objective of this thesis project is to develop a working configuration for a swarm of drones in an indoor flight environment. The swarm is composed of 4 small quadcopters, each equipped with an onboard computer that is able to run programs to control the drone movements, and also to communicate with all the other agents in the network, like a ground station and the other drones. The flight environment consists of a safety cage where drones can fly inside, and a Vicon motion capture system to locate the position and the orientation of each drone in order to have an external position feedback.