Autonomous Flying Nano Drones

Hi all,
I am new in the forum and in the topic. I would like to program one or more nano drones in order to perform repeatable trajectories indoor. For example: 
- Take off from the center of a sport arena (indoor)
- Each drone goes to one of the corners of the arena
- The drones land
- The drones come backs at the origin

Everything programmed, no manual flight. I guess I should develop some indoor positioning algorythm, some ranging features, and I don't know what else.. I am a absolute beginner in this

How could I implement this ? 
Is there already some code ready to be loaded on the board ? 
Thanks for helping! :)

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