The DRAKULA project, commissioned by the BAAINBw, aims to implement the advantages of airborne exploration and reconnaissance even in unclear environments, including flight inside buildings by unmanned micro air vehicles. This will require new approaches to navigation and control, especially because GPS/GNSS data and georeferenced maps are not available here. In addition, a high degree of automation is required, since neither line-of-sight nor radio contact between an operator and the drone can be guaranteed on a permanent basis. Another challenge is the integration of all required sensors and components on a small, indoor-capable aircraft, which also has to fly through corridors, doors or window openings. The flexible use of unmanned aerial vehicles, even inside buildings, makes it possible to create a situation picture or identify sources of danger without endangering people or emergency forces themselves.