Unmanned aerial vehicles (UAVs) are in general faster to deploy and easier to operate due to many off-the-shelf guidance, navigation, and control solutions. Such solutions usually support short-range line-of-sight operations. However, operating a swarm of UAVs for surveillance purposes in diverse terrains requires cost-effective wireless connectivity, infrastructure-less operation, adaptive mobility models, multiclass routing solutions, and a tailored ground control station. In this article, we address the challenge of UAV swarm communications by presenting a framework that offers an open-interface communication and networking solution for surveillance operations in urban/outreach areas. It is based on a hybrid connectivity module that can enable the coexistence of 5G infrastructures, adaptive multiband SDR waveforms empowered with cooperative communication capacities, and satellite communications for continuous swarm operation in any demographic area. In addition, we also discuss some of the current and futuristic applications and scenarios that can benefit from the provided solution.