Some embodiments are directed to an unmanned vehicle for use with a companion unmanned vehicle. The unmanned vehicle includes a position unit that is configured to determine a current position of the unmanned vehicle. The unmanned vehicle includes a memory unit that is configured to store a planned path of the unmanned vehicle. The unmanned vehicle includes a control unit that is configured to determine that the unmanned vehicle is off-course based on the current position of the unmanned vehicle and the planned path assigned to the unmanned vehicle, generate a delay and a corrected path for the unmanned vehicle, and communicate the delay and the corrected path to the companion unmanned vehicle. The control unit is further configured to control a movement of the unmanned vehicle along the corrected path after the delay.