The VORTEX project proposes a new approach for exploring unknown indoor environments using a fleet of autonomous drones (UAVs). We propose to define a strategy based on swarm intelligence exploiting only vision-based behaviors. The fleet will deploy as a dynamic graph self reconfiguring according to events and discovered areas. Without requiring any mapping or wireless communication, the drones will coordinate by mutual perception and communicate by visual signs. This approach will be developed with RGB and event cameras to achieve fast and low-energy navigation.