market will grow by $29 billion by 2027 with an annual growth rate of almost 20%[1]. Drones
have particularly found applications in warehousing operations [2]. Recent technological
advances of drones such as visual based navigation and sensors [3] enable indoor
applications of drones. In addition to the advancement of drone technology, a main reason is
that the scale of warehouses is increasing due to the growth of global ecommerce. For …