Algorithm 4 Conflict management stage function

functionCheck_conflicts($drone$, $drone\_of\_higher\_ID$)      $safety\_distance$← 12 cells in horizontal plane and 5 cells in vertical axis       if Drones closer than 25 cells and trajectories closer than $safety\_distance$ then 4:          if New conflict then                 Assign conflict priorities to both drones           end if           priority_drone.velocity ← min(priority_drone.velocity,1) 8:          non_priority_drone.velocity ← 0       end if       return $drone.velocity$, $drone\_of\_higher\_ID.velocity$ end function