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

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

Sources

• Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing
• Proximal Policy Optimization Algorithms

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