Waydo, Stephen and Klavins, Eric (2006) Verification of an Autonomous Reliable Wingman using CCL. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2006.001
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We present a system of two aircraft, one human-piloted and one autonomous, that must coordinate to achieve tasks. The vehicles communicate over two data channels, one high rate link for state data transfer and one low rate link for command messages. We analyze the operation of the system when the high rate link fails and the aircraft must use the low rate link to execute a safe "lost wingman" procedure to increase separation and re-acquire contact. In particular, the protocol is encoded in CCL, the Computation and Control Language, and analyzed using temporal logic. A portion of the verified code is then used to command the unmanned aircraft, while on the human-piloted craft the protocol takes the form of detailed flight procedures. An overview of the implementation for a June, 2004 flight test is also presented.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||Support provided by the Fannie and John Hertz Foundation. Support in part by AFOSR grant number F49620-01-1-0361. This work was supported in part by DARPA under the Software Enabled Control program, John Bay program manager, and the Fannie and John Hertz Foundation. We thank Brian Mendel and Jim Paunicka at Boeing for developing the flight test platform and helping us transition this work to the OCP framework. We also thank Richard Murray, John Hauser, Jason Hickey, and Mani Chandy for influencing the ideas described in this work.|
|Group:||Control and Dynamical Systems Technical Reports|
|Subject Keywords:||logical programming environment, software enabled control, safety verification|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||20 Apr 2006|
|Last Modified:||26 Dec 2012 14:29|
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