Method, system and computer program product of control of unmanned aerial vehicles

A computer implemented method of controlling navigation of at least one drone, is disclosed. The method comprises: from each drone navigating in a facility (10), and equipped with an imaging sensor, sending a plurality of pictures to a server (30) through a wireless communications interface (152); at the server (30): receiving the pictures and obtaining a 3D virtual model of the facility (10) in which the drone is navigating, the 3D virtual model comprising, for each drone: a first virtual drone located within the 3D virtual model at a position and orientation calculated from the received pictures, said position and orientation representing the position and orientation of the drone; and a second virtual drone located within the 3D virtual model at a target position and orientation representing the position and orientation to be reached by the drone; for each drone, sending to the drone at least one movement command (416, 417) for reaching the point at the facility (10) which corresponds to the location of the second virtual drone at the 3D virtual model; the at least one drone navigating according to the at least one movement command (416, 417) and, from the new location of the at least one drone (15, 15_1, ... 15_N), sending at least one picture captured by the imaging sensor (156) to the server (30); at the server (30): from information extracted from the pictures sent by each drone, updating the 3D virtual model of the facility (10) and the location of each first virtual drone in the 3D virtual model, in such a way that changes in the facility (10) captured by the at least one picture are reflected in the 3D virtual model; and repeating the former steps until the drone reaches the position and orientation of the second virtual drone as defined in the 3D virtual model.