Embodiments described herein relate to an autonomous emergency system (EMS) for UAVs and UMVs. The autonomy of the emergency system enables the vehicle to self-detect that it is in an emergency state (autonomous detection). When vehicle detects the emergency state the vehicle is configured to implement an improved autonomous emergency system process. The vehicle triggers autonomous state change, and controls its operation (auxiliary, power levels, and so on). The vehicle has beacons to emit pulses over time intervals to communicate with specific vehicles. For example, when known, friendly, other vehicles come into a specific radius, the EMS detects the friendly vehicle(s) and sends safe signals. The EMS implements a pairing communication process based on pre-establish configurations and protocols.