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In this paper, we consider a coordinated multi-aircraft 4D (3D space plus time) trajectories planning problem which is illustrated by planning 4D trajectories for aircraft traversing an Air Traffic Control (ATC) sector. The planned 4D trajectories need to specify each aircraft’s position at any time, ensuring conflict-free and reducing fuel and delay costs, with possible aircraft maneuvers such as speed adjustment and flight level change. Different from most existing literature, the impact of buffer safety distance is also under consideration, and conflict-free is guaranteed at any given time (not only at discrete time instances). The problem is formulated as a pure-strategy game with aircraft as players and all possible 4D trajectories as strategies. An efficient maximum improvement distributed algorithm is developed to find equilibrium at which every aircraft cannot unilaterally improve further, without enumerating all possible 4D trajectories in advance. Proof of existence of the equilibrium and convergence of the algorithm are given. A case study based on real air traffic data shows that the algorithm is able to solve 4D trajectories for online application with estimated 16.7% reduction in monetary costs, and allocate abundant buffer safety distance at minimum separation point. Scalability of the algorithm is verified by computational experiments. [ABSTRACT FROM AUTHOR]