{"id":"https://openalex.org/W7161952460","doi":"https://doi.org/10.48550/arxiv.2605.20625","title":"Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination","display_name":"Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7161952460","doi":"https://doi.org/10.48550/arxiv.2605.20625"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.20625","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.20625","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.20625","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136691379","display_name":"Matthew Low","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Low, Matthew","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083352391","display_name":"Jasmine Jerry Aloor","orcid":"https://orcid.org/0000-0003-4257-3870"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aloor, Jasmine Jerry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059189673","display_name":"Victoria Marie Tuck","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tuck, Victoria Marie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067636168","display_name":"Pierluigi Nuzzo","orcid":"https://orcid.org/0000-0003-2984-0364"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nuzzo, Pierluigi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136659944","display_name":"Jason J. Choi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Jason J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.0027000000700354576,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0026000000070780516,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/separation","display_name":"Separation (statistics)","score":0.6913999915122986},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6509000062942505},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5828999876976013},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5622000098228455},{"id":"https://openalex.org/keywords/air-traffic-management","display_name":"Air traffic management","score":0.5085999965667725},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5020999908447266},{"id":"https://openalex.org/keywords/air-traffic-control","display_name":"Air traffic control","score":0.47609999775886536},{"id":"https://openalex.org/keywords/safety-monitoring","display_name":"Safety monitoring","score":0.3431999981403351}],"concepts":[{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.6913999915122986},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6509000062942505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338000297546387},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5828999876976013},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5622000098228455},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5286999940872192},{"id":"https://openalex.org/C2776777543","wikidata":"https://www.wikidata.org/wiki/Q1361182","display_name":"Air traffic management","level":3,"score":0.5085999965667725},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5020999908447266},{"id":"https://openalex.org/C166961238","wikidata":"https://www.wikidata.org/wiki/Q221395","display_name":"Air traffic control","level":2,"score":0.47609999775886536},{"id":"https://openalex.org/C2777488183","wikidata":"https://www.wikidata.org/wiki/Q6900510","display_name":"Safety monitoring","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2818000018596649},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25519999861717224},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2549000084400177},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.20625","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.20625","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.20625","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.20625","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.7796066403388977,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Advanced":[0],"Air":[1],"Mobility":[2],"(AAM)":[3],"operations":[4,23],"are":[5,76,87],"expected":[6],"to":[7,20,89,137],"significantly":[8],"increase":[9],"aerial":[10,62],"traffic":[11,17],"in":[12,24,119],"urban":[13],"airspace,":[14],"requiring":[15],"autonomous":[16],"management":[18],"systems":[19],"ensure":[21],"collision-free":[22],"highly":[25,121],"congested":[26,122],"environments.":[27],"In":[28],"this":[29],"paper,":[30],"we":[31],"propose":[32],"a":[33,43,120],"multi-agent":[34],"coordination":[35],"framework":[36],"that":[37,93,127],"uses":[38],"minimum":[39],"time-to-reach":[40],"(TTR)":[41],"as":[42],"unifying":[44],"metric":[45],"for":[46],"priority":[47,79],"assignment,":[48],"temporal":[49,91],"separation,":[50],"and":[51,83,134,140],"safety":[52,99,142],"filtering.":[53,143],"We":[54],"focus":[55],"on":[56,81,103],"the":[57,114,128],"problem":[58],"of":[59],"coordinating":[60],"multiple":[61],"vehicles":[63],"merging":[64,124],"into":[65],"an":[66],"air":[67],"corridor":[68,123],"while":[69,111],"maintaining":[70],"safe":[71],"separation":[72],"between":[73],"vehicles.":[74],"Vehicles":[75],"assigned":[77],"arrival-consistent":[78],"based":[80,102],"TTR,":[82],"target":[84],"TTR":[85],"values":[86],"used":[88],"enforce":[90],"spacing":[92],"induces":[94],"spatial":[95],"separation.":[96],"A":[97],"priority-consistent":[98],"filtering":[100],"layer":[101],"Hamilton-Jacobi":[104],"reachability":[105],"value":[106],"functions":[107],"ensures":[108],"collision":[109],"avoidance":[110],"minimally":[112],"modifying":[113],"reference":[115],"guidance.":[116],"Simulation":[117],"results":[118],"scenario":[125],"show":[126],"proposed":[129],"method":[130],"improves":[131],"safety,":[132],"fairness,":[133],"efficiency":[135],"compared":[136],"time-optimal":[138],"guidance":[139],"priority-agnostic":[141]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-22T00:00:00"}