This study proposes a decentralized coordination framework for autonomous drones by integrating Multi-Agent Systems (MAS) with Swarm Intelligence (SI). Using simple local behavioral rules—separation, alignment, and cohesion—drones operate collaboratively to achieve shared objectives without central control. Through a series of simulated scenarios, the model demonstrated strong performance across key tasks. In the collision avoidance test, the system reduced collision incidents from 30 to zero within 10 seconds in high-density swarms. During goal convergence, over 80% of drones reached the target within an average of 12–18 seconds, depending on swarm size. For spatial distribution, the swarm achieved up to 96% area coverage with minimal inter-agent spacing. Even under stress tests like GPS drift, agent loss, and communication failures, the swarm recovered in less than 7 seconds. These results confirm the scalability, fault tolerance, and adaptability of the model, making it suitable for real-world applications such as search and rescue, environmental monitoring, and precision agriculture.