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as far as I know, it possible in ros
1) by autonomously if you mean to send a command like "take off!" then the drone will fly by itself, yes it is possible. 2) communication is easy to achieve in ros 3) if you can achieve 2), control each other is actually sending commands, or communication.
my personal suggestion would be starting with Gazebo or other simulators to play with ROS.
I'm also new to ROS, hope my answer is helping.