A navigation system for a host vehicle is provided. The system may comprise at least one processing device comprising circuitry and a memory. The memory includes instructions that when executed by the circuitry cause the at least one processing device to: receive a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle; analyze the plurality of images to identify a presence in the environment of the host vehicle a navigation rule suspension condition; temporarily suspend at least one navigational rule in response to identification of the navigation rule suspension condition; and cause at least one navigational change of the host vehicle unconstrained by the temporarily suspended at least one navigational rule.

A method may include a first UAV of a plurality of UAVs flying a first vector comprising a first heading and speed; a second UAV of the plurality of UAVs flying a second vector comprising a second heading and speed; at a first time, while the first UAV is flying the first vector and the second UAV is flying the second vector, determining a first distance between the first UAV and the second UAV; at a second time, the second time being after the first time, the second UAV transitioning to flying a third vector comprising a third heading and speed, the third vector being different from the second vector; after the second UAV has transitioned to flying the third vector, the first UAV observing the second UAV; and the first UAV providing a first observation of the second UAV flying the third vector to the second UAV.