“…In civil aviation, traffic alert and collision avoidance system (TCAS) is a universally accepted last-resort means of reducing the probability and frequency of mid-air collisions between aircrafts. [3][4][5] TCAS logic, too, has been researched. In recent years, there have been many studies on UAVs, such as ant colony algorithm, [6][7][8][9] dynamic programming, [10][11][12] genetic algorithm, [13][14][15][16] particle swarm optimization, [20][21][22] potential field algorithm, [23][24][25][26] colored petri net, 27 Markov decision process, 28 and combinations or optimizations of these algorithms.…”