Drone swarm

Hello Dear PX4 community,
I am looking for advice regarding the tech stack for my pet project.
I am going to do an investigation of the drone’s swarm with the following requirements:

  1. Drone should be controlled programmatically (I have experience only with .Net and a bit with C++)
  2. Drone should have separate communication channels for control commands and video stream
    Main use case:
    3 drones can be controlled programmatically and are sending the video streams to the decision-maker, based on video analysis this node can send commands to each drone separately.

Please advise a tech stack to base a solution on and point me where I can start.