Unmanned Aerial Vehicles (UAVs) are valuable in logistics, especially for hard-to-reach areas.While much research focuses on UAV technology, their interaction with humans remains lessexplored. This study addresses this gap by creating an experimental setup where UAVs guidehumans through a warehouse scenario in a laboratory environment. UAVs autonomously guideindividuals to task stations and wait for task completion, with communication via a hand-heldkeypad and sensor-based distance estimation. Human-UAV interaction is observed using RGBand marker-based motion-capture cameras at TU Dortmund’s FLW facility. A publicly availabledataset of these interactions provides valuable resources for further research in various fields.