This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the risk of mission failure due to collisions. To mitigate this risk further, we introduce an autonomous navigation framework that utilizes a local Euclidean Signed Distance Field (ESDF) map for obstacle avoidance while maintaining swarm formation with minimal path deviation. Additionally, we incorporate a Traveling Salesman Problem (TSP) variant to optimize area coverage, prioritizing Points of Interest (POIs) based on preassigned values derived from environmental behavior and critical infrastructure. The proposed system is validated through simulations with varying swarm sizes, demonstrating its ability to maximize coverage while ensuring collision avoidance between UAVs and obstacles.