A method for distributed positioning and collaborative behavior determination by an object employed in a system for collaborative spatial positioning, comprising: identifying, by said system, a presence of one or more nearby objects (510, 520, 530, 540, 550, 560) wherein each of the one or more nearby objects includes at least one ultra-wide band transmitter and wherein the object is associated with two or more ultra-wide band transceivers; receiving, by said system, by each of the two or more ultra-wide band transceivers associated with the object positional determinative resources-and state information from each of the one or more nearby objects wherein said state information includes object identification information, behavioral information and mission objectives of the one or more nearby objects and wherein the positional determinative resources information comprises information of a range localization and one or more of inertial systems, a global positioning system, and a path integration; determining, by said system, a relational location of each of the one or more nearby objects by analyzing differences between the received_positional determinative resources and state information at each of the two or more ultra-wide band transceivers associated with the object; developing, by said system, a spatial awareness of a local environment based on the relational location of the one or more nearby objects to identify potential collisions between the object and the one or more nearby objects; prioritizing, by said system, the state information from each of the one or more nearby objects based on at least a mission objective of the object and the mission objectives of the one or more nearby objects; prioritizing, by said system, received positional determinative resources information from each of the one or more nearby objects based on perceived accuracy and historical variance of positional information provided by each resource of the positional determinative resources information; modifying, by said system, mission behavior of the object based on the spatial awareness of the local environment, the prioritized positional determinative resources from each of the one or more nearby objects; and coordinating, by said system, mission behavior prioritization of the object and each of the one or more nearby objects to achieve a common tasking based on said modifying. identifying, by said system, a presence of one or more nearby objects (510, 520, 530, 540, 550, 560) wherein each of the one or more nearby objects includes at least one ultra-wide band transmitter and wherein the object is associated with two or more ultra-wide band transceivers; receiving, by said system, by each of the two or more ultra-wide band transceivers associated with the object positional determinative resources-and state information from each of the one or more nearby objects wherein said state information includes object identification information, behavioral information and mission objectives of the one or more nearby objects and wherein the positional determinative resources information comprises information of a range localization and one or more of inertial systems, a global positioning system, and a path integration; determining, by said system, a relational location of each of the one or more nearby objects by analyzing differences between the received_positional determinative resources and state information at each of the two or more ultra-wide band transceivers associated with the object; developing, by said system, a spatial awareness of a local environment based on the relational location of the one or more nearby objects to identify potential collisions between the object and the one or more nearby objects; prioritizing, by said system, the state information from each of the one or more nearby objects based on at least a mission objective of the object and the mission objectives of the one or more nearby objects; prioritizing, by said system, received positional determinative resources information from each of the one or more nearby objects based on perceived accuracy and historical variance of positional information provided by each resource of the positional determinative resources information; modifying, by said system, mission behavior of the object based on the spatial awareness of the local environment, the prioritized positional determinative resources from each of the one or more nearby objects; and coordinating, by said system, mission behavior prioritization of the object and each of the one or more nearby objects to achieve a common tasking based on said modifying.