Connecting Multiple UAVs

I am working on a project that involves sending waypoints to multiple drones at one time through a python script. I know that this can be done because of the swarming work that has been done, but I am unsure of two elements: how to connect multiple drones through a python script, and how to individually send waypoints. I would love any help that anyone could give me. If there is no way to do so, that would be great to know as well.

Did you have any luck doing that? Are you using ROS too?