Does Firefly Take Place In The Same Universe As Prometheus?

Geek overlord Joss Whedon has made no attempt to hide his nerdy side from the entertainment world, and he loves to place easter eggs in his productions that make fans drool at their discovery.
This particular easter egg comes from the pilot episode of Firefly:
In the opening sequence of Firefly‘s pilot episode, “Serenity,” Nathan Fillion’s Malcolm Reynolds is fighting the Battle of Serenity Valley. And losing. But before he’s forced to lay down his guns, he hops behind a giant anti-aircraft cannon to shoot down an Alliance fighter. And when he powers up the gun, the heads-up-display reveals a very familiar logo in the top part of the screen
The logo in question is the Weyland-Yutani Corporation logo, from the Aliens film franchise. Now that would be one amazing crossover-the crew of the Serenity vs. a horde of bloodthirsty xenomorphs!
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