<div>In autonomous technology, uncrewed aircraft systems have already become the
preferred platform for the research and development of flight control systems.
Although they are subjected to following and satisfying complicated scenarios of
control stations, this high dependency on a specific control framework limits
them in their application process and reduces the flight self-organizing
network. In this article, we present a developed multilayer control system
protocol with the additional supportive manned aircraft layer
(<i>Tender</i>). The novelty of the introduced model is that
uncrewed aircraft systems are monitored and navigated by the tender, and then
based on the suggested scheme, data flows are controlled and transferred across
the network by the developed cloud–robotics approach in the ground station
layer. Therefore, it has been tried to design a semi-autonomous control network
to gather data that combines human observation and the automotive nature of
uncrewed aircraft systems. To ensure the accuracy and correctness of the model,
we simulate our approach in the software-in-the-loop using its web-based
interface with new configurations in the hardware and software architecture of
the network. Results will be examined by the in-order per message delay, which
has recorded a considerably low latency in both the uplink and downlink data
transmission processes. This optimization is achieved along with maintaining the
quality of data.</div>