Autonomous navigation is one of the most interesting and complicated challenges of recent years: in particular, imagine the technical and application complexity of autonomously flying a drone within an indoor environment, where fixed and moving obstacles are present... Nowadays, there is a continuous attempt to automate and optimize any kind of process, in order to facilitate work from humans, and where possible, make machines do the most repetitive, alienating, time-consuming, error pruning and dangerous jobs. So that humans can focus on activities that enhance their intellectual value and business can grow faster and faster, by investing more and more in autonomous technology solutions.