Xwing was a startup I worked for focused on unmanned aerial cargo and passenger transport by retrofitting an existing aircraft, the Cessna 208B “Caravan.” Of my many roles at the company, I owned a lightweight simulation framework called Litesim, which could run a subset of many of the company’s projects at real or faster than real time. This included sensor simulations for RADAR, Lidar, and INS, plus the basic physics and mission-following models necessary for a plane to fly a waypoint mission.

Visualization of an “encounter” between two aircraft might look like the following:

This demo video shows Litesim running NASA’s Daidalus Detect-And-Avoid algorithm on each of the DO-365b Minimum Operational Performance Standards test cases. Replanning can be seen in some of the encounters, as the ownship attempts to avoid the intruder.
https://www.youtube.com/watch?v=_rQb0y6agmc