This paper describes and evaluates the use of Jason BDI agents to make the high-level control and the coordination of a swarm of autonomous unmanned aerial vehicles (UAVs). The UAVs in the swarm work together searching and extinguishing fire spots in a simulated forest firefighting scenario. This problem was presented by the 2022 SARC–BARINET aerospace competition, which makes use of the ROS/Gazebo simulation environment. ROS is also used here to perform the low-level UAV’s control. Our solution requires a minimum of 2 UAVs and can be easily scaled. We were able to successfully complete the given mission using up to 8 UAVs. Additional experiments devoted for performance-data collection were conducted using swarms with 4, 6, and 8 UAVs. Obtained results are presented and discussed along the paper.