Author

Mitchell Black

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Preprint Sep 2026

A Time-to-Collision Barrier Function Approach to Collision Avoidance for Stochastic Systems

Collision avoidance constraints for autonomous systems are typically formulated in position or velocity space, implicitly reacting to geometric proximity. We propose an alternative paradigm based on the adversarial time-to-collision (aTTC): the minimum time in which an adversary could achieve a collision given its dyna...

B. B. Sorensen, Mitchell Black, Erfaun Noorani et al. · 1 citation

Preprint Aug 2026

A Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles

Adversarial time-to-collision (aTTC), a risk metric that quantifies, for a given agent, how quickly any surrounding agent could reach it assuming adversarial intent, is introduced.

B. B. Sorensen, Mitchell Black, Erfaun Noorani et al. · 0 citations