How to implement custom swarm drone?

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Could anyone please advise me on the process of creating and implementing a modular swarm drone system?

I'm trying to create something called a distributed flight array which connects modular drones in different configurations

My plan is to create and spawn a singular entity in fusion 360 because I don't think it will be possible to spawn several of these and have them rigidly fixed together, However I am not sure about the physics or how to model the physics when the drone could be connected in different patterns. WIll I need to create a custom gazebo plugin or will I be able to use the standard lift-draft plugin