RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft

Baumeister, Jan and Finkbeiner, Bernd and Schirmer, Sebastian and Schwenger, Maximilian and Torens, Christoph
(2020) RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft.
In: Computer Aided Verification - 32nd International Conference, CAV 2020, Los Angeles, CA, USA, July 21-24, 2020, Proceedings, Part II.
Conference: CAV Computer Aided Verification


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Official URL: https://doi.org/10.1007/978-3-030-53291-8\_3


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.


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