Autonomous Behavior Generation for Aircraft

Apparatus and methods for training a machine learning algorithm (MLA) to control a first aircraft in an environment that comprises the first aircraft and a second aircraft are described. Training of the MLA can include: the MLA determining a first-aircraft action for the first aircraft to take within the environment; sending the first-aircraft action from the MLA; after sending the first-aircraft action, receiving an observation of the environment and a reward signal at the MLA, the observation including information about the environment after the first aircraft has taken the first-aircraft action and the second aircraft has taken a second-aircraft action, the reward signal indicating a score of performance of the first-aircraft action based on dynamic and kinematic properties of the second aircraft; and updating the MLA based on the observation of the environment and the reward signal.