The goal of FIRA Air competition is to encourage research teams for solving current problems of developing a smart and efficient drone in both commercial and industrial fields. While drones are used widely for aerial imaging, there are still lots of challenges when it comes to an autonomous, reliable and secure solution. Overall most of these difficulties are related to localization, exploration, and intelligent navigation in dynamic environments. The main challenge in this competition is towards smart drones capable of high altitude inspection and carrying packages in urban environments.