In recent years, technological advancements have driven increasing interest in autonomous multi-vehicle formations and multi-agent systems (MASs). Specifically, the field of Unmanned Aerial Vehicles (UAVs) has attracted considerable attention and is expected to grow significantly due to its extensive potential applications. UAVs present a viable solution for both military and civilian operations, reducing the risks associated with human presence in hazardous environments. Nevertheless, current systems have not yet achieved full autonomy and require a manned platform to accomplish mission objectives. Within this context, the concept of Manned-Unmanned Teaming (MUM-T) has emerged,which involves the collaboration of unmanned aircraft with manned aircraft to provide support in operational scenarios.This concept plays a central role in this work.