How do build swarm drone

need help in building and programming swarm if drones over pixhawk , Im new to swarm . would love to learn about it . please suggest

Here are some blogs, Maybe it can help you!
Swarming experiments for the common man - Part 1 - Introduction and Simulation - Blog - ArduPilot Discourse
Easiest way to build your own drone flight controller software with SWARM Simulation Platform - Blog - ArduPilot Discourse