Monitoring ICAROUS: From Requirements to Autonomous Flight

Swee Balachandran; Esther Conrad; Aaron Dutle; Dimitra Giannakopoulou; Alwyn Goodloe; Anastasia Mavridou; Cesar Munoz; Ivan Perez; Laura Titolo; Thomas Theo Pressburger

NASA NTRS · 20205010646

Monitoring ICAROUS: From Requirements to Autonomous Flight

Swee Balachandran·Esther Conrad·Aaron Dutle·Dimitra Giannakopoulou·Alwyn Goodloe·Anastasia Mavridou·Cesar Munoz·Ivan Perez·Laura Titolo·Thomas Theo Pressburger

View original source ↗Export metadata ↓

Abstract

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.

Explore related subjects

Formal Methods Autonomous Systems Requirements Elicitation Runtime Verification

Keep this discovery

Explore connections, maps & timelines

BibTeX RIS

Swee Balachandran, Esther Conrad, Aaron Dutle, Dimitra Giannakopoulou, Alwyn Goodloe, Anastasia Mavridou, Cesar Munoz, Ivan Perez, Laura Titolo, Thomas Theo Pressburger. Monitoring ICAROUS: From Requirements to Autonomous Flight. https://ntrs.nasa.gov/citations/20205010646

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related reports

NASA NTRS2015

R2U2: Monitoring and Diagnosis of Security Threats for Unmanned Aerial Systems

We present R2U2, a novel framework for runtime monitoring of security properties and diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2, implemented in FPGA hardware, is a real-time, REALIZABLE, RESPONSIVE, UNOBTRUSIVE Unit for security threat detection. R2U2 is designed to continuously monitor inputs from the GPS and the ground control station, sensor readings, actuator outputs, and flight software status. By simultaneously monitoring and performing statistical reasoning, attack patterns and post-attack discrepancies in the UAS behavior can be detected. R2U2 uses runtime observer pairs for linear and metric temporal logics for property monitoring and Bayesian networks for diagnosis of security threats. We discuss the design and implementation that now enables R2U2 to handle security threats and present simulation results of several attack scenarios on the NASA DragonEye UAS.

Formal Methods↗

NASA NTRS2013

A Formal Basis for Safety Case Patterns

By capturing common structures of successful arguments, safety case patterns provide an approach for reusing strategies for reasoning about safety. In the current state of the practice, patterns exist as descriptive specifications with informal semantics, which not only offer little opportunity for more sophisticated usage such as automated instantiation, composition and manipulation, but also impede standardization efforts and tool interoperability. To address these concerns, this paper gives (i) a formal definition for safety case patterns, clarifying both restrictions on the usage of multiplicity and well-founded recursion in structural abstraction, (ii) formal semantics to patterns, and (iii) a generic data model and algorithm for pattern instantiation. We illustrate our contributions by application to a new pattern, the requirements breakdown pattern, which builds upon our previous work

Formal Methods↗

NASA NTRSDate not supplied

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↗