Swarm applications, especially for UAVs, encounter issues with safety, legality, and computing constraints when coordinating numerous individuals. Collision-free distributed path planning in dynamic situations is a crucial concern in military and civilian applications, as it affects the capacity to safeguard individuals, infrastructure, and security. Thus, this project aims to enhance search efficiency by the utilisation of a swarm of autonomous Codrones (product of Robolink Inc.), particularly in GPS-denied settings such as indoor rescues, greenhouse surveillance, and pipeline assessments. In the absence of GPS and motion-capture devices, these Codrones will depend exclusively on onboard sensing and processing, rendering conventional simultaneous localization and mapping (SLAM) approaches impractical due to their substantial computational requirements. The suggested method entails employing an Received Signal Strength Indicator (RSSI)- based relative localisation system to facilitate the autonomous navigation of Codrones within indoor environments i.e. building 26-IRCASE, enabling them to circumvent barriers and detect foreign agents. This system will undergo validation via real-time deployment in a controlled interior corridor, presenting substantial potential to improve swarm UAV applications in essential indoor operations without reliance on external guidance systems.