A context aware tracking scheme made of two main ingredients is presented. Firstly, closed loop computations that are computed incrementally, yielding anytime algorithms whose threads can be interrupted as soon as the crudest law is computed; the best available result is then furnished. The anytime character is also used to reach short term, mid term and long term objectives. Secondly, and dually to the previous temporal considerations, a sheaf of trajectories is maintained (in a long term). A choice is made in this sheaf (at beginning of the mid term phase) depending on the external conditions (hence the term "contex aware tracking"); the chosen trajectory is then tracked in the end of the mid term phase.