自律飛行する無人航空機のためのRTLolaによる動的モニタリング
RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft
形式仕様言語RTLolaで危険状況やシステム故障を記述し、FPGAベースの高効率モニタを自動生成して自律無人航空機の安全監視を実現した。
著者: Jan Baumeister, Bernd Finkbeiner, Sebastian Schirmer, Maximilian Schwenger, Christoph Torens
分類: cs.RO, cs.SE, eess.SP
原文アブストラクト
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.
