RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft

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.

[1]  Florian-Michael Adolf,et al.  Towards Intelligent System Health Management using Runtime Monitoring , 2017 .

[2]  Dogan Ulus,et al.  On the Quantitative Semantics of Regular Expressions over Real-Valued Signals , 2017, FORMATS.

[3]  Bernd Finkbeiner,et al.  StreamLAB: Stream-based Monitoring of Cyber-Physical Systems , 2019, CAV.

[4]  Bernd Finkbeiner,et al.  LOLA: runtime monitoring of synchronous systems , 2005, 12th International Symposium on Temporal Representation and Reasoning (TIME'05).

[5]  Bernd Finkbeiner,et al.  Stream Runtime Monitoring on UAS , 2017, RV.

[6]  Thomas A. Henzinger,et al.  Real-Time Logics: Complexity and Expressiveness , 1993, Inf. Comput..

[7]  Florian-Michael Adolf,et al.  Formal Monitoring of Risk-based Geo-fences , 2018 .

[8]  Pascal Raymond,et al.  The synchronous data flow programming language LUSTRE , 1991, Proc. IEEE.

[9]  Pierre-Yves Schobbens,et al.  Real-Time Logics: Fictitious Clock as an Abstraction of Dense Time , 1997, TACAS.

[10]  Alwyn E. Goodloe,et al.  Copilot: A Hard Real-Time Runtime Monitor , 2010, RV.

[11]  Ron Koymans,et al.  Specifying real-time properties with metric temporal logic , 1990, Real-Time Systems.

[12]  Amir Pnueli,et al.  Explicit clock temporal logic , 1990, [1990] Proceedings. Fifth Annual IEEE Symposium on Logic in Computer Science.

[13]  Franz Andert,et al.  Visual navigation for autonomous, precise and safe landing on celestial bodies using unscented Kalman filtering , 2017, 2017 IEEE Aerospace Conference.

[14]  Bernd Finkbeiner,et al.  FPGA Stream-Monitoring of Real-time Properties , 2020 .

[15]  Johann Schumann,et al.  R2U2: monitoring and diagnosis of security threats for unmanned aerial systems , 2017, Formal Methods in System Design.

[16]  Dejan Nickovic,et al.  Monitoring properties of analog and mixed-signal circuits , 2012, International Journal on Software Tools for Technology Transfer.

[17]  Sven Lorenz,et al.  Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation , 2017, J. Intell. Robotic Syst..

[18]  Maximilian Schwenger,et al.  Let’s not Trust Experience Blindly: Formal Monitoring of Humans and other CPS , 2020 .

[19]  Oded Maler,et al.  Robust Satisfaction of Temporal Logic over Real-Valued Signals , 2010, FORMATS.

[20]  Aloysius K. Mok,et al.  Safety analysis of timing properties in real-time systems , 1986, IEEE Transactions on Software Engineering.

[21]  Bernd Finkbeiner,et al.  Real-time Stream-based Monitoring , 2017, ArXiv.