Methods and systems for positioning group monitoring and maintenance

A method performed by a wireless transmit/receive unit (WTRU), the method comprising:

• establishing a sidelink positioning group comprising a plurality of anchor WTRUs;
• transmitting a sidelink positioning reference signal (SL-PRS) to each anchor WTRU comprised in the sidelink positioning group;
• receiving a SL-PRS measurement report from each anchor WTRU comprised in the sidelink positioning group, the SL-PRS measurement report based on the SL-PRS transmitted to each anchor WTRU comprised in the sidelink positioning group, wherein the SL-PRS measurement report comprises an indication of one or more of a distance between the WTRU and the respective anchor WTRU or a direction between the WTRU and the respective anchor WTRU;
• and
• determining whether to maintain or terminate the sidelink positioning group if an anchor WTRU moves out of the sidelink positing group, wherein the method comprises determining that the anchor WTRU moves out of the sidelink positioning group based on one or more of the distance between the WTRU and the respective anchor WTRU or the direction between the WTRU and the respective anchor WTRU.