# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 4 Levels and Kinds of Situation Awareness in Behavior Control Problem for UAV  
Solving the task of forming situational awareness of the UAV behavior control system assumes the ability to answer the following basic questions:  
1. What is the _goal_ of the problem? I.e., what is to be obtained as a result of its solution (the specific composition of the situational awareness component)? 2. Which _source data_ are needed to solve the problem under consideration, and how they can be obtained? 3. What should the _results_ of the problem to be solved look like? 4. Into which _subtasks_ is the original problem broken down, and what problems arise in solving these subtasks and the problem as a whole? Regarding the answer to the first of the above questions, the goal of the situational awareness task is to provide information support for the decision-making process in the problem of UAV behavior control. The list of required situational awareness components is determined by the objectives of the flight operation being implemented, and by the tasks to be completed during its implementation. As a rule, this list will include the following elements:  
* list of objects detected in the scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\) (the result of solving the problem of localization of objects in \(\mathcal{R}^{\mathcal{W}}\));
* classes of objects detected and localized in the scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\) (the result of solving the problem of classifying objects in \(\mathcal{R}^{\mathcal{W}}\));
* list and localization of objects of given (prescribed) classes in the scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\);
* results of tracking the behavior of the prescribed objects in \(\mathcal{R}^{\mathcal{W}}\), and the prediction of this behavior. In addition, the required situational awareness components may include other elements--in particular relationships between objects in the scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\) given the dynamics of its change, a list of objects in \(\mathcal{R}^{\mathcal{W}}\) for which the fact of belonging to a grouping solving a common problem is established, results of tracking the behavior of a grouping of objects in \(\mathcal{R}^{\mathcal{W}}\) and forecasting this behavior, results of analysis of the goals of individual objects and their groupings in \(\mathcal{R}^{\mathcal{W}}\), etc. The answers to the second and third questions depend on the specific composition of the situational awareness components required to implement the goals of the flight operation executed by the UAV in question. Since computer vision plays a critical role in the UAV behavior control tasks, given the dynamic nature of the situational awareness formation process for the UAV control system, one of the primary sources of input data will be video streams obtained from one or more video cameras. There can also be other sources of data, in particular, as already mentioned above. For the external components of the situation, it can be radars, infrared cameras, etc. For the internal components, we can have various kinds of sensor equipment, allowing us to measure the values of UAV state variables and the values characterizing the \"health state\" of systems and design of the UAV. The answer to the fourth question is an extensive (but not exhaustive) list of tasks that are subtasks of the original situational awareness task.