2020/03/27 by Baumeister, Jan, Finkbeiner, Bernd, Schirmer, Sebastian +2 · 2 citations
#68V06 #B.7.1 #F.4.3 #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Signal Processing (eess.SP) #Software Engineering (cs.SE) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2004.06488
The autonomous control of unmanned aircraft is a highly safety-critical domain with great economic potential in a wide range of application areas, including logistics, agriculture, civil engineering, and disaster recovery. We report on the development of a dynamic monitoring framework for the DLR ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems) family of unmanned aircraft based on the formal specification language RTLola. RTLola is a stream-based specification language for real-time properties. An RTLola specification of hazardous situations and system failures is statically analyzed in terms of consistency and resource usage and then automatically translated into an FPGA-based monitor. Our approach leads to highly efficient, parallelized monitors with formal guarantees on the noninterference of the monitor with the normal operation of the autonomous system.