# Comparing Run Time Assurance Approaches for Safe Spacecraft Docking

arXiv: https://arxiv.org/abs/2110.00447 · HTML: https://mlsanity.com/paper/2110.00447/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Oct 2021.

## Built on by (most cited first, 5 of 5)

- [Ablation Study of How Run Time Assurance Impacts the Training and Performance of Reinforcement Learning Agents](https://mlsanity.com/paper/2207.04117/) (2022)
- [Run Time Assured Reinforcement Learning for Six Degree-of-Freedom Spacecraft Inspection](https://mlsanity.com/paper/2406.11795/) (2024)
- [Searching for Optimal Runtime Assurance via Reachability and Reinforcement Learning](https://mlsanity.com/paper/2310.04288/) (2023)
- [Reliability-Asymmetric Spacecraft Autonomy: Co-Designing a Capable Learned GNC Stack with a Verified, Adaptation-Aware Runtime Shield](https://mlsanity.com/paper/2606.25366/) (2026)
- [Conformal Recovery-Deadline Certificates for Runtime Assurance of Adapting Controllers](https://mlsanity.com/paper/2606.25371/) (2026)

## Abstract (arXiv)

Run Time Assurance (RTA) systems are online safety verification techniques that filter the output of a primary controller to assure safety. RTA approaches are used in safety-critical control to intervene when a performance-driven primary controller would cause the system to violate safety constraints. This paper presents four categories of RTA approaches based on their membership to explicit or implicit monitoring and switching or optimization interventions. To validate the feasibility of each approach and compare computation time, four RTAs are defined for a three-dimensional spacecraft docking example with safety constraints on velocity.