Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation

arXiv:2607.10014 · cs.RO, cs.LG, cs.MA, cs.SY, eess.SY · Submitted 2026-07-10 · Read on arXiv

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

Submitted: 2026-07-10

Updated: 2026-08-29

Comments: Accepted for publication at the 2026 IEEE/AIAA Digital Avionics Systems Conference (DASC). 9 pages, 8 figures

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

Terminology

Reinforcement Learning — 14× in this paper · explained in 4 episodes
Robustness — 6× in this paper · explained in 5 episodes
Action Space — 4× in this paper · explained in 1 episode
Adversarial Training — 3× in this paper · explained in 1 episode
Global Navigation Satellite Systems — 3× in this paper
Computational overhead — 2× in this paper · explained in 2 episodes
Benchmarking — 1× in this paper · explained in 3 episodes
Clustering — 1× in this paper · explained in 2 episodes
Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
Credit assignment — 1× in this paper · explained in 3 episodes
Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
Multi-Agent Reinforcement Learning (MARL) — 1× in this paper · explained in 4 episodes
Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
Reward Shaping — 1× in this paper · explained in 2 episodes
Transformer — 1× in this paper · explained in 2 episodes
Under the UAS Traffic Management — 1× in this paper