A self-organizing framework is proposed for collaborative multi-UAV teams working with a small group of human operaters to execute a range of military missions under dynamic environment.The combat system is consisted of a two-layer hierarchical control architecture and a five-layer function architecture which facilities the autonomous cooperative control of UAV groups at different levels and insures the unity of command the flexibility of control and the expandability of system.A flexible communication structure is adopted to respond to the uncertainty of battlefield.The optimal configuration of resources is driven by the emergent behaviors resulted from local interactions among the unmanned assets and the distributed task planning among functional formations from bottom to top while dynamic adaptive optimization of C2 organization structure is realized from top to bottom thus can optimize the C2 structure and integrate the battlefield resources effectively.