UBASWARM is a homogeneous swarm of fully autonomous unmanned Aerial Vehicles (UAV) to achieve efficient, robust and fail-safe missions in dynamic GNSS-denied scenarios. Especially, in last-mile delivery and search-and-rescue missions, UBASWARM increases efficiency and effectiveness of the missions through the application of swarming strategies. Resilience and safety is guaranteed by integrating an integrity monitor and the use of innovative Autonx mission control software to provide oversight of swarm and UAV behavior.