A system for planning an operation includes a communication interface and processor(s). The processor(s) is/are configured to: receive an indication that the drone is part of a set of assets, wherein the set of assets are tasked with performing element(s) of task(s), and the set of assets comprises a plurality of drones; communicate information pertaining to the element(s), wherein: 1) the information pertaining to the element(s) is communicated with at least one other drone; 2) the information pertaining to the element(s) is based at least in part on information obtained by sensor(s) of the set of assets; and 3) the information pertaining to the element(s) is used in connection with determining a plan to perform the task(s); and communicate information pertaining to the plan to perform the task(s), wherein the information pertaining to the plan to perform the task(s) is communicated with at least one other drone.