Abstract : Unmanned Aerial Systems (UAS) are entrenched as an integral part of strategic and tactical operations throughout the Department of Defense and other government agencies. In this time of emerging doctrine and rapid advances in technology, the breadth of mission profiles continues to expand. One way to increase efficiency of unmanned systems is to reduce the workload of its operators during missions. Like the swarms of some insects, semi autonomous UAVs can collaborate using simple rule sets. These rule sets, when dynamically joined with mission specific tasks, provide the foundation for a self-organizing set of UAVs that all soldiers, not just 15Ws, can use. Mission tasks can be driven directly by the unit or personnel requiring UAS support for a particular mission. This limits "losses in translation" and provides a shorter implementation time more directly empowering those that are supported. A system design to achieve this functionality is presented. It addresses the UAS architecture and rule set issues. Recommended rule sets are validated through simulation and analysis.