A system for controlling operation of a plurality of mobile entities, the system comprising: a plurality of mobile entities; a master entity, that is communicatively coupled to each one of the plurality of mobile entities; wherein each of the mobile entities comprises a control module and at least one function component; wherein the control module is configured to control operation of the at least one function component; wherein the control module is configured to selectively operate in either a first state, a second state, or a third state; wherein, in the first state, the control module is configured to receive input data from the at least one function component, generate control commands for controlling the at least one function component based on the input data, and autonomously control the at least one function component based on the control commands to follow a predetermined mission plan; characterized in that, in the second state, the control module is configured to receive input data from the at least one function component, generate preliminary control commands for controlling the at least one function component based on the input data, wherein the preliminary control commands represent an option for continuing a mission, transmit the preliminary control commands to the master entity, control the at least one function component based on the preliminary control commands when the master entity does not overrule the preliminary control commands within a predetermined time period, otherwise, control the at least one function component based on control commands received from the master entity, wherein the master entity is configured to autonomously send a command confirmation to the mobile entity when the master entity receives the preliminary control commands and after a predetermined time upon receiving the preliminary control commands; wherein, in the third state, the control module is configured to receive input data from the at least one function component, generate proposed control commands for controlling the at least one function component based on the input data and transmit the proposed control commands to the master entity, wherein the proposed control commands represent an option for continuing a mission, forward the input data and the proposed control commands to the master entity, receive control commands from the master entity, and control the at least one function component based on the control commands received from the master entity, and wherein, when no control commands are received from the master entity or the option for continuing the mission are not confirmed within a certain time, the mobile entity executes a contingency maneuver or aborts the mission in order to achieve a safe state. a plurality of mobile entities; a master entity, that is communicatively coupled to each one of the plurality of mobile entities; wherein each of the mobile entities comprises a control module and at least one function component; wherein the control module is configured to control operation of the at least one function component; wherein the control module is configured to selectively operate in either a first state, a second state, or a third state; wherein, in the first state, the control module is configured to receive input data from the at least one function component, generate control commands for controlling the at least one function component based on the input data, and autonomously control the at least one function component based on the control commands to follow a predetermined mission plan; characterized in that, in the second state, the control module is configured to receive input data from the at least one function component, generate preliminary control commands for controlling the at least one function component based on the input data, wherein the preliminary control commands represent an option for continuing a mission, transmit the preliminary control commands to the master entity, control the at least one function component based on the preliminary control commands when the master entity does not overrule the preliminary control commands within a predetermined time period, otherwise, control the at least one function component based on control commands received from the master entity, wherein the master entity is configured to autonomously send a command confirmation to the mobile entity when the master entity receives the preliminary control commands and after a predetermined time upon receiving the preliminary control commands; wherein, in the third state, the control module is configured to receive input data from the at least one function component, generate proposed control commands for controlling the at least one function component based on the input data and transmit the proposed control commands to the master entity, wherein the proposed control commands represent an option for continuing a mission, forward the input data and the proposed control commands to the master entity, receive control commands from the master entity, and control the at least one function component based on the control commands received from the master entity, and wherein, when no control commands are received from the master entity or the option for continuing the mission are not confirmed within a certain time, the mobile entity executes a contingency maneuver or aborts the mission in order to achieve a safe state.