In this paper, we consider the design of an indoor testbed composed of multiple aerial and ground unmanned vehicles for experimentation in Mobile Networked Control Systems. Taking several motivational aspects from both research and education into account, we propose an architecture to cope with the scale and mobility aspects of the overall system. Currently, the testbed is composed of several low-cost ARdrones quadrotors, small-scale heavy duty vehicles, wireless sensor nodes and a vision-based localization system. As an example, the automatic control of an ARdrone is shown.