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" Drones should be semi-autonomously piloted (mainly to keep from getting hit)"
They'd need to be completely autonomous at long range. The distance would induce a delay between signals being sent and recieved to and from the drone and its controlling vehicle making direct human control impractical. You'd also need some sort of power plant and fuel source that would allow the drone to manoeuvre sufficiently to intercept the target and evade defensive fire over long periods, without increasing its mass too much.
IIRC the battles in the Night's Dawn Trilogy by Peter F. Hamilton work this way. Ships loosing off hundreds of tiny drone missiles each tasked to different roles (ship killer, drone killer, ECM and so on) the winner's ship killing drones finally getting through and killing their opponent.
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