Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard ServicesThis paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.
Document ID
20200000072
Acquisition Source
Langley Research Center
Document Type
Conference Paper
Authors
Balachandran, Swee (National Inst. of Aerospace Hampton, VA, United States)
Munoz, Cesar A. (NASA Langley Research Center Hampton, VA, United States)
Consiglio, Maria C. (NASA Langley Research Center Hampton, VA, United States)
Feliu, Marco A. (National Inst. of Aerospace Hampton, VA, United States)
Patel, Anand V. (National Inst. of Aerospace Hampton, VA, United States)