1. A method for autonomously monitoring behavior of a plurality of unmanned air vehicles (UAVs), the method comprising: determining an initial prediction model for an action of the plurality of UAVs based upon synthetically generated data regarding the plurality of UAVs; receiving measurement data from the plurality of sensors onboard the plurality of UAVs or external to the UAVs. the measurement data relating to the action of the plurality of UAVs when the plurality of UAVs perform the action; determining a prediction model for the action of the plurality of UAVs, based on the initial prediction model and the measurement data from the plurality of sensors, onboard the plurality of UAVs or external to the UAVs; determining a corresponding structured model about the action of the plurality of UAVs based on the prediction model applied to the measurement data from the plurality of sensors, the corresponding structured model including statistical probabilities of being a particular state and transitioning to another; based on the corresponding structured model, detecting anomaly in the action of the plurality of UAVs; and wherein detecting anomaly in the action of the plurality of UAVs comprises: determining whether there is a surprise between present observation data and expected observation data relating to the action of the plurality of UAVs based on the corresponding structured model; and when it is determined that there is a surprise, the prediction model is updated through surprise analysis and/or rule maintenance to improve future predictions.