# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 5 Forming Elements of Situational Awareness for UAVs
#### 5.1.3 The Problem of Team Behavior in Object Tracking in a Fragment of Objective Reality  
In the general case, the formation of situational awareness for the UAV behavior control system requires tracking not a single object in \(\mathcal{R}^{W}\), but some set of objects. There can be many such objects in \(\mathcal{R}^{W}\). Still, from the point of view of UAV behavior control purposes, usually only a part of them is of interest, which simplifies the problem of tracking objects somewhat. At the same time, it is essential to be able to identify the collective behavior of objects. This requirement means that it should be possible to understand that around the UAV in  
Figure 2: Model errors when forecasting by coordinates \(x\), \(y\), \(alt\) in the universal Mercator projection. Here \(\Delta x\), \(\Delta y\) and \(\Delta alt\) are displacements at \(k\) step relative to \(k-1\) step in longitudinal range, lateral range and altitude, respectively. \(\mathcal{R}^{W}\) is not some swarm of objects, each of which \"occupies its own business,\" but a team of objects solving some common task for them. Further, there is a task of revealing the goals of collective behavior. In this case, there appears a possibility not only to track but also to predict team behavior of objects. In this case, the task of tracking individual objects (object tracking) is included as an important part (subtask) in the more general problem of team tracking. When analyzing and predicting the collective behavior of observed objects, we should keep in mind that this behavior can vary in the level of complexity in a wide range: from very simple forms to extremely complex. Examples of the simplest collective behavior of observable objects can be aircraft formation flight without vigorous maneuvering of a group, motion of ground objects as a part of a column, the motion of surface ships as a part of an order. As an example of complex team behavior, it is possible to specify individual maneuvering of observable objects, being a part of a group. Still, this maneuvering is subordinated to a common goal or a set of goals. Thus, maneuvering can be carried out within wide limits. The task of detection and prediction of group behavior in this variant is even more complicated if the objects included in the grouping are separated in space \(\mathcal{R}^{W}\) for a significant distance, for example, as is the case in the AWACS system (radar aircraft + aircraft, to which it transmits the data obtained about the detected targets). As a set of objects solving some joint task, a formation can include both mobile and stationary objects. An example of such a formation is any aerial target interception system, including one or more fighter-interceptors, and ground-based guidance and flight operation control facilities. Another example is remotely piloted UAVs. Here again, the formation includes one or more UAVs and a ground control center. Another critical task is to identify the coherence (pattern) of the individual behaviors of the objects that make up a grouping united by a common goal or set of goals. The analysis of such coherence can serve as a tool for revealing the purpose of group behavior. An interesting case is when the preferences for the individual targets included in this complex may differ for the objects included in the grouping. An example here is a flight operation performed by a pair of aircraft. In this case, the pair has a common goal (this is the goal of the flight operation). At the same time, the tasks solved by the master and the slave of the pair (and, consequently, their goals) are different. For example, the main task of the master is to attack the enemy; the main mission of the wingman is to cover the master. However, under certain circumstances, the slave may attack the target, and the master may--cover it, i.e., the tasks of attacking and defending are assigned to both the master and the slave of the pair but have different priorities for them.