This paper contributes to providing multiple views for a physical system’s behavior dynamically to programmers and to enhance liveness and conformity in its programming. To develop physical systems, we need to consider many concerns such as weather, terrain, and traffic conditions. In current digital-twin-based development of autonomous systems, these are organized in layers. Also, our research group has contributed to this problem. However, even if we use such a development environment, we feel annoyed in some places. The cause is that we cannot easily distinguish the behavior of the physical system before and after changing programs. For observing behavior, programmers need to connect components or external systems. Also, if programmers want to focus only on system behavior, they need several actions to select the mode. Additionally, we cannot dynamically change behavior in popular development environments based on general digital twins. The programming of physical systems is naturally exploratory. Therefore, to provide a more comfortable development environment for exploratory programming, we pose the following research issues.

(1) Dynamic multiple views: When we change a program, we can observe its behavior in multiple views, and the behavior of each view is also changed simultaneously.

(2) Liveness and conformity: When we construct a program, we can check whether the program is as intended in our image before execution to confirm the conformity. Then, the program immediately executes without any bothersome actions to satisfy liveness.

(3) Real drone: One program executes both on a digital twin and the real world.

To address these issues, we propose a framework called Drone Behavior Analyzing Platform (DBAP) together with a domain-specific visual block programming language editor called Blocky Editor. To realize dynamic multiple views, other systems, including real drones in the Blocky Editor on DBAP, monitor changes to the program in the Blocky Editor. If each system recognizes the change, it changes its own behavior. Additionally, to execute the same program on both real and virtual drones, we use MAVLink, the communication protocol for unmanned systems. The feasibility of the framework is demonstrated by executing identical behavior programs on Hakoniwa and Unity-based simulators, as well as on a real drone system using ArduPilot.