Before revision:  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. We show that our analysiscan be applied on heterogeneous aircraft models .
After revision:  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 analysis .