The control of autonomous agents is a field of research of considerable interest given the wide range of applications this technology can have. The development of Unmanned Aerial Vehicles (UAVs) fits precisely into this broad field of study for which strong growth is expected in the future. Indeed, this type of system allows for greater effectiveness and safety in both military and civilian operational contexts; however, their control generally rests with remote operators or is at most semi-autonomous. Increasing interest, moreover, has been generated around the concept of Manned-Unmanned Teaming, or the cooperation within the same operational scenario between piloted and unmanned aircraft.