**4. System Overview**

After analyzing the current state of firefighting operations and proposals of robotic systems to perform them, we present a comprehensive concept of operation to apply drone swarms in firefighting missions. This concept of operation is shown in Figure 3 and described in the following subsections: mission in Section 4.1, drone swarm in Section 4.2, team in Section 4.3, and required infrastructure in Section 4.4.

**Figure 3.** System overview.
