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With the rise of increasingly complex autonomous systems powered by black boxAI models, there is a growing need for Run Time Assurance (RTA) systems thatprovide online safety filtering to untrusted primary controller output.Currently, research in RTA tends to be ad hoc and inflexible, diminishingcollaboration and the pace of innovation. The Safe Autonomy Run Time AssuranceFramework presented in this paper provides a standardized interface for RTAmodules and a set of universal implementations of constraint-based RTA capableof providing safety assurance given arbitrary dynamical systems andconstraints. Built around JAX, this framework leverages automaticdifferentiation to populate advanced optimization based RTA methods minimizinguser effort and error. To validate the feasibility of this framework, asimulation of a multi-agent spacecraft inspection problem is shown with safetyconstraints on position and velocity.

A Universal Framework for Generalized Run Time Assurance with JAX Automatic Differentiation