Providing network services access anytime and anywhere is nowadays a critical issue. A natural response to such a need is the use of autonomous flying drones to provide network services. We propose VESPA, a distributed algorithm using only one-hop information of the drones, to discover targets with unknown location and ensure connectivity between them and the sink, auto-organizing in a multi-hop aerial wireless network. We prove that connectivity, termination and coverage are preserved during all stages of our algorithm, and we evaluate the algorithm performances through simulations. A comparison with an existing work has been made as well to validate our approach and show the efficiency of VESPA.