Before revision:  Through extensive simulations, we evaluate the performance of the protocol in terms of workload and response delays . Our experiments show that the workload on the airspace manager and the response time of each aircraft grow linearly with respect to the number of aircraft. The experiments also delineate the trade-off between performance , workload, and violation rate across different strategies for generating OVs.
After revision:  Through extensive simulations, we evaluate the performance of the protocol in terms of workload and response delays with extensive simulations in ROS and Gazebo. We show that our analysis can be applied on heterogeneous aircraft models. Our experiments also delineate the trade-off between performance , workload, and violation rate across different strategies for generating OVs.