# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 2 UAV as a Controllable Dynamic System Operating under Uncertainty Conditions
### Requirements for UAV Behavior Control Algorithms  
The \(\Phi^{S}\) transformation, which is part of the relationships (14) and (15), is a set of algorithms that control the behavior of the UAV. This set, in various combinations, may include algorithms that solve the following problems:  
* planning a flight operation, controlling its execution, promptly adjusting the plan when the situation changes;
* control of UAV motion, including its trajectory motion (including guidance and navigation) and angular motion;
* control of target tasks (surveillance and reconnaissance equipment operation control, weapons application control, assembly operations control, etc. );
* control of interaction with other aircraft, both unmanned and manned, when performing the task of a group of aircraft;
* control of structural dynamics (for \"smart\" structures);
* monitoring the \"health state\" of the UAV and implementation of actions to restore it if necessary (monitoring the state of the UAV structure and its onboard systems, coordination of the UAV onboard systems, reconfiguration of algorithms of the behavior control system in case of equipment failures and damage to the UAV structure). The particular set of algorithms implemented by a specific UAV behavior control system depends on the tasks for which the UAV is designed. An advanced \"smart\" UAV, whose behavior control system implements the above algorithms, will be:  
* able to assess the current situation based on a multifaceted perception of the external and internal environment, be able to form a forecast of the situation evolution;
* able to achieve the established goals in a highly dynamic environment with a significant number of heterogeneous uncertainties in it, taking into account possible counteractions;
* able to adjust the established goals, and to form new goals and sets of goals, based on the values and normative regulations (motivation) incorporated into the UAV behavior control system;
* able to acquire new knowledge, accumulate experience in solving various tasks, learn from this experience, modify their behavior based on the obtained knowledge and accumulated experience;able to adapt to the type of tasks that need to be solved, including learning how to solve problems that were not in the original design of the system;
* able to form teams, intended for the interaction of their members in solving some common problem. As noted earlier, the usage of UAVs will be really efficient only if they are able to solve their target tasks as autonomously as possible. This statement means that the human role in controlling the behavior of the UAV must be minimized. The aim should be to leave only such functions as formulating tasks to be carried out in the flight operation; controlling the execution of tasks carried out in the flight operation; adjusting the goals of the flight operation directly in the flight if the need arises. The algorithms for controlling the behavior of the UAV when forming and implementing control actions are based on the use of data about the goal of the flight operation, the current situation, and the available resources. To provide the above tasks, these algorithms must be based on such critical mechanisms as adaptability, i.e., the ability to adjust to the changing situation, and learnability, understood as the ability to adjust and extract experience and knowledge from the activities performed to use them in the future. In the definitions (5), (6) and (7), the UAV behavior control algorithms correspond to \(\Phi^{CS}\), \(\Phi^{AS}\) and \(\Phi^{IS}\) elements. They must provide the solving of the two most important tasks, such as  
* providing situational awareness with an assessment of the current and/or predicted situation to obtain the information required for behavior control actions on the UAV;
* generating control actions that determine the behavior of the UAV.