Sending Waypoints to 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 also be great to know.

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