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Radio Environmental Maps (REMs) are a powerful tool for enhancing the performance of various communication and networked agents. However, generating REMs is a laborious undertaking, especially in complex 3-Dimensional (3D) environments, such as indoors. To address this issue, we propose a system for autonomous generation of fine-grained REMs of indoor 3D spaces. In the system, multiple small indoor Unmanned Aerial Vehicles (UAVs) are sequentially used for 3D sampling of signal qualityarXiv:2111.03451v1 fatcat:hiqgmbsoxrh2vnloqccl5djhz4