Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination

arXiv:2605.20625 · eess.SY, cs.MA, cs.RO, cs.SY · Submitted 2026-05-20 · Read on arXiv

eess.SY, cs.MA, cs.RO, cs.SY

Submitted: 2026-05-20

Updated: 2026-09-25

Comments: 9 pages, 3 figures. Extended version (including appendix) of a paper accepted in the 65th IEEE Conf. on Decision and Control (2026)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Advanced Air Mobility — 8× in this paper
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Aeronautical Information Manual — 1× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 6 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Formal Methods — 1× in this paper · explained in 3 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Multi-Agent System — 1× in this paper · explained in 7 episodes

Sources

• Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions
• A Forward Reachability Perspective on Control Barrier Functions and Discount Factors in Reachability Analysis

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