In the era of the Unmanned Aerial Vehicles (UAVs) several kinds of applications were born to make use of these autonomous vehicles, from surveillance to emergency management, from entertainment to package delivery. All these systems are based on the autonomous capability of the unmanned vehicles. The common factor of such systems is the use of an ad-hoc wireless network that enables the communication among the vehicles. However, guaranteeing an effective level of Quality-of-Service in the UAVs wireless network is hard to reach because of the unpredictable nature of such a system. Multiple solutions have emerged to address this problem, like enhanced communication protocols or mobility control systems that exploit the autonomous mobility of such vehicles. Nevertheless, none of those solutions have real affect on the end-to-end QoS performance. This paper aims to address the issue of guaranteeing the wireless network connectivity while providing Quality-of-Service at network layer, i.e., the proposed system will dynamically adapt its topology in order to increase the end-to-end network performance by using nature-inspired algorithm.