There are multiple ways in which the AACAS system interacts with the world. However, the inputs to the AACAS system simplify to the drone’s current pose and nearby obstacles. The AACAS system in return outputs flight commands to the motion controller. Simplicity in the inputs and outputs allows the team to run the same AACAS software stack in four different configurations: Physical Flight, Hardware in the Loop Simulation (HITL), Software in the Loop (SITL) Kinematic Simulation, and Software in the Loop (SITL) Dynamic Simulation. The following images show how the AACAS system interacts with each environment, the pros and cons of each form of simulation, and which portions of the environments we plan on developing. For all cases, the AACAS system can be seen in greater detail in the Cyberphysical Architecture.