Before revision:  We present an executable prototype coordination protocolusing operation volumes, involving participating aircraft and an airspace manager . Next, we show how to use an ensemble of existing simulation and formal verification tools to analyze the protocol including (1) formally proving the safe separation and liveness properties of distributed coordination with the help of proof assistants Dione and Dafny, (2) using data-driven reachability analysiswith DryVR to ensure aircraft to follow operation volumes, and (3) evaluating the performance of the protocol in terms of workload and response delays with extensive simulations in ROS and Gazebo.
After revision:  We present an executable prototype coordination protocolusing operation volumes, involving participating aircraft and an airspace manager . Next, we show how to use an ensemble of existing simulation and formal verification tools , Dafny and Dione, can assist in automatically checking key properties of the protocol. Second, we show how the OVs can be computed for heterogeneous air vehicles like quadcopters and fixed-wing aircraft using another verification technique, namely reachability analysis. Finally, we show that SkyTrakx can be used to simulate complex scenarios involving heterogeneous vehicles, for testing and performance evaluation in terms of workload and response delays with extensive simulations in ROS and Gazebo.