A method of operating a plurality of aerial vehicles in an environment, the method comprising: receiving, at a first command module of a first aerial vehicle navigating along a first flight path, sensor data from one or more sensors on board the first aerial vehicle, wherein the sensor data reflects one or more characteristics of the environment; determining, via the first command module, a change from a predetermined formation to a different formation for a second aerial vehicle based at least in part on the sensor data, wherein the predetermined formation and the different formation are relative to the first aerial vehicle; generating, via the first command module, control signals reflecting the change from the predetermined formation to the different formation; sending the control signals from the first aerial vehicle to the second aerial vehicle; determining, via the first command module or a mission manager, a second flight path for a second aerial vehicle reflecting the change from the predetermined formation to the different formation, wherein the control signals reflect the second flight path for the second aerial vehicle; maneuvering, via a second command module of the second aerial vehicle, the second aerial vehicle to navigate along the second flight path; characterized in that the method further comprising: receiving, via the second command module and from the first command module, zone data that indicates one or more zones proximate the second flight path; and maneuvering, via the second command module, the second aerial vehicle to enter the one or more zones based at least in part on the zone data, wherein the zone data includes a time component for the one or more zones, wherein the time component is a validity period or expiration time of the one or more zones. receiving, at a first command module of a first aerial vehicle navigating along a first flight path, sensor data from one or more sensors on board the first aerial vehicle, wherein the sensor data reflects one or more characteristics of the environment; determining, via the first command module, a change from a predetermined formation to a different formation for a second aerial vehicle based at least in part on the sensor data, wherein the predetermined formation and the different formation are relative to the first aerial vehicle; generating, via the first command module, control signals reflecting the change from the predetermined formation to the different formation; sending the control signals from the first aerial vehicle to the second aerial vehicle; determining, via the first command module or a mission manager, a second flight path for a second aerial vehicle reflecting the change from the predetermined formation to the different formation, wherein the control signals reflect the second flight path for the second aerial vehicle; maneuvering, via a second command module of the second aerial vehicle, the second aerial vehicle to navigate along the second flight path; characterized in that the method further comprising: receiving, via the second command module and from the first command module, zone data that indicates one or more zones proximate the second flight path; and maneuvering, via the second command module, the second aerial vehicle to enter the one or more zones based at least in part on the zone data, wherein the zone data includes a time component for the one or more zones, wherein the time component is a validity period or expiration time of the one or more zones. receiving, via the second command module and from the first command module, zone data that indicates one or more zones proximate the second flight path; and maneuvering, via the second command module, the second aerial vehicle to enter the one or more zones based at least in part on the zone data, wherein the zone data includes a time component for the one or more zones, wherein the time component is a validity period or expiration time of the one or more zones.