Advanced Air Mobility (AAM) operations are expected to significantly increase aerial traffic in urban airspace, requiring autonomous traffic management systems to ensure collision-free operations in highly congested environments. In this paper, we propose a multi-agent coordination framework that uses minimum time-to-reach (TTR) as a unifying metric for priority assignment, temporal separation, and safety filtering. We focus on the problem of coordinating multiple aerial vehicles merging into an air corridor while maintaining safe separation between vehicles. Vehicles are assigned arrival-consistent priority based on TTR, and target TTR values are used to enforce temporal spacing that induces spatial separation. A priority-consistent safety filtering layer based on Hamilton-Jacobi reachability value functions ensures collision avoidance while minimally modifying the reference guidance. Simulation results in a highly congested corridor merging scenario show that the proposed method improves safety, fairness, and efficiency compared to time-optimal guidance and priority-agnostic safety filtering.

翻译：先进空中交通（AAM）运行预计将显著增加城市空域中的空中交通流量，这需要自主交通管理系统确保在高密度拥堵环境中实现无冲突运行。本文提出一种多智能体协调框架，以最小到达时间（TTR）作为优先级分配、时间分离与安全过滤的统一度量指标。我们聚焦于协调多架飞行器汇入空中走廊并在飞行器间保持安全间隔的问题。基于TTR为飞行器分配与到达顺序一致的优先级，并通过目标TTR值强制执行可诱导空间分离的时间间距。基于Hamilton-Jacobi可达价值函数的优先级一致性安全过滤层在最小化修改参考引导信号的同时确保避碰。高密度拥堵走廊汇合场景的仿真结果表明，与时间最优引导及优先级无关的安全过滤方法相比，所提方法在安全性、公平性和效率方面均有所提升。