Monitoring ICAROUS: From Requirements to Autonomous Flight
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formal methods↗
Engineering topics
Esther Conrad
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From Requirements to Autonomous Flight: An Overview of the Monitoring ICAROUS Project
The Independent Configurable Architecture for Reliable Operations of Unmanned Systems(ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.
Formal Methods↗
Monitoring ICAROUS: From Requirements to Autonomous Flight
The Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.
Formal Methods↗
Formal Verification, Distributed Computing, and Path Planning Algorithms
The safety- and mission-critical nature of much of the work done at NASA requires algorithms and software to be exceedingly reliable. Formal methods techniques are one way of ensuring this high level of robustness. This talk will discuss the development and formal verification of autonomous aircraft path planning algorithms related to the Bellman-Ford shortest path algorithm, including consideration of distributed computation of the algorithm.
Formal Methods↗
Formalization of the Bellman-Ford Algorithm for Airspace Applications
This paper describes the formal verification of one of the most well-known algorithms for finding the shortest path between all vertices in a directed graph, namely the Bellman-Ford algorithm. This formal verification, performed in the Prototype Verification System (PVS), is motivated by two applications in the aerospace domain which use the algorithm for path planning. The first is a pre-flight calculation that uses an adapted version of Bellman-Ford to find a route intended to maximize GNSS availability throughout the flight. The second is a more traditional application intended to find the shortest path between an autonomous aircraft's current position and a goal waypoint, while avoiding regions of space specified by geofences. A novel aspect of this formal verification effort is the inclusion of two distinct models of computation for the algorithm, one being a traditional serial computation, and the other being an explicitly parallel computation. The ability to use parallel computation in the Bellman-Ford algorithm is in fact why it was chosen over other traditionally more performant algorithms, especially for the GNSS application, where the size of the graph makes a purely serial computation infeasible.
formal verification↗