A system using aerial vehicles to autonomously locate and retrieve ground packages of various colors and shapes within a designated area was developed. This system was notable for its use of an innovative rotor configuration that offered a higher degree of control compared to traditional designs. To accurately identify and track the packages, a multi-sensor approach combining vision and Light Detection and Ranging technologies was implemented, integrating data into an extended Kalman filter framework for precise position and velocity estimates. An electro-permanent magnet was employed to securely grab and release the packages, which have a ferrous material. The process of path planning and collision avoidance was conducted in a decentralized manner, leveraging a shared global map among the airborne vehicles. This paper details system technical design, including the integration of various technologies, and shares insights and outcomes derived from its application.