arXiv subjects

Clark Borst

Publications and source records attributed to Clark Borst.

3 recordsLinked to original sources

arXiv2026

Solution Space Path Planning: A Real-Time Human-Centered Path Planning Algorithm for En-Route Air Traffic Control

As technology advances, various algorithms have been proposed for air traffic management, yet their operational adoption in tactical control remains limited. This gap motivates a human-centered design emphasizing algorithmic interpretability, controller-relevant operational constraints, and real-time computation. Inspired by the interpretability and flexibility of solution-space displays, as well as by the decision logic controllers naturally apply when enforcing operational constraints, this study extends the solution-space concept to path planning and develops a fast conflict-free path-planning algorithm for en-route Air Traffic Control (ATC), termed Solution Space Path Planning (SSPP). The algorithm integrates three intent-based conflict detection methods---distance-based, time-interval-based, and zone-based---within the solution-space framework to identify conflict-free paths in computationally efficient ways. SSPP is developed using both vertex-based and edge-based search nodes, resulting in two variants---SSPPV and SSPPE, respectively. Empirical results show that SSPPV paired with zone-based conflict detection performs best, computing paths in 3.69 ms on average in the Dutch Delta sector using a 5 nmi grid. SSPPV remains approximately 3.77 times faster than SSPPE while offering competitive effectiveness, making it suitable for time-critical operations and interactive 'what-if' probing in real time. An extension to SSPPV and SSPPE further examines the trade-off between delay minimization and separation requirements, demonstrating the flexibility of SSPP in revising optimization objectives. This study not only proposes a novel path-planning algorithm but also shows how such algorithms can be designed to align with human use and operational requirements, supporting their integration into future ATC systems.

cs.AI↗

arXiv2026

Optimal any-angle path planning in static and dynamic environments

Any-angle path planning extends traditional graph-based path planning by allowing movement between any pair of vertices, rather than being restricted by predefined edges. It can find straighter and shorter paths in continuous space with graphs, making it particularly suitable for navigation in open areas such as airspaces, warehouses, and oceans. Many any-angle path-planning algorithms have been proposed, but only a few can guarantee optimal solutions, especially in the presence of dynamic obstacles. To address this challenge, this article focuses on optimal any-angle path planning on grids and introduces two general techniques that accelerate computation while preserving optimality in both static and dynamic environments: 1) elliptical forward expansion, which leverages ellipse-based neighborhoods to restrict the search space, and 2) field of view, which replaces traditional line-of-sight methods to speed up visibility checks. To integrate these two techniques, inverted and forward scanning are introduced. Inverted scanning establishes visual connections from open nodes, whereas forward scanning initiates scans from closed nodes. Building on the proposed techniques, Zeta* and Zeta*-SIPP are developed for static and dynamic environments respectively. Zeta*, when combined with forward scanning, is similar to the state-of-the-art algorithm Anya and attains comparable performance. Unlike Anya, Zeta* can be readily extended to other settings, such as dynamic environments (e.g., Zeta*-SIPP). Zeta*-SIPP, with either scanning method, is more than 20 times faster than the corresponding state-of-the-art optimal planner TO-AA-SIPP. Overall, this research identifies the key requirements for achieving optimal any-angle path planning and introduces a unified approach suitable for different environments.

cs.RO↗

arXiv2025

A Conceptual Framework for AI-based Decision Systems in Critical Infrastructures

The interaction between humans and AI in safety-critical systems presents a unique set of challenges that remain partially addressed by existing frameworks. These challenges stem from the complex interplay of requirements for transparency, trust, and explainability, coupled with the necessity for robust and safe decision-making. A framework that holistically integrates human and AI capabilities while addressing these concerns is notably required, bridging the critical gaps in designing, deploying, and maintaining safe and effective systems. This paper proposes a holistic conceptual framework for critical infrastructures by adopting an interdisciplinary approach. It integrates traditionally distinct fields such as mathematics, decision theory, computer science, philosophy, psychology, and cognitive engineering and draws on specialized engineering domains, particularly energy, mobility, and aeronautics. Its flexibility is further demonstrated through a case study on power grid management.

cs.CY↗