Application of Falsification Methods on the UxAS System · Bardh Hoxha Southern Illinois University...
21
Application of Falsification Methods on the UxAS System Cumhur E. Tuncali, Georgios Fainekos Arizona State University NASA Formal Methods 2018 Newport News, Virginia, USA, April 18 Bardh Hoxha Southern Illinois University [email protected] www.bhoxha.com Guohui Ding, Sriram Sankaranarayanan University of Colorado Boulder The authors authorize the public release of this presentation
Transcript of Application of Falsification Methods on the UxAS System · Bardh Hoxha Southern Illinois University...
ApplicationofFalsificationMethodsontheUxASSystem
CumhurE.Tuncali,GeorgiosFainekos
ArizonaState
University
NASAFormalMethods2018NewportNews,Virginia,USA,April18
BardhHoxha
SouthernIllinoisUniversity
Guohui Ding,SriramSankaranarayanan
UniversityofColorado
Boulder
Theauthorsauthorizethepublicreleaseofthispresentation
SummerOfInnovation2017
Participantsfromtheindustry,academia,andthegovernmentApplyformalmethodstotheAFRLsUAVmissionplanningsoftwareUxAS
2
Requirementformalization•Formalarchitecturedescription•Methodsforprovingcorrectandsafebehavior•Cyber-securityconsiderations•Real-timescheduling/enforcement•Automatedtestgeneration•Argumentationandassurancecases•Run-timeassurance•
Hybridsystemsanalysis•ImprovementsinmissionandtaskplanningAutomatedtestgeneration
1.UxASandAMASE
FromMissionScenariostoSimulation
4https://github.com/cmcghan/OpenUxAShttps://github.com/cmcghan/OpenAMASE
UxASRoutePlanner
Automation
VehicleAbstract
LineSearchTask
AreaSearchTask
Overwatch Task
…
…
Mission AMASE
Scenario
AvailableVehicles
OperatingRegionsandKeepOutZones
…
AutopilotWaypointTracking
Waypoints
VehicleStates
Tasks
5[Slideadopted/modifiedfromD.Fisher,S52017]
6
Assignment
[Slideadopted/modifiedfromD.Fisher,S52017]
[ASU– SIU– VU] [ADHS2018]
🔥
🔥
🔥
🔥
SynchronizedFirefight
https://youtu.be/rgerTBylMsc
Testing UxAS:KeepOutZoneViolations
8
𝑍"
𝑑$
𝜃$
𝜃&'$𝜃(
𝑥(&(*, 𝑦(&(*
𝑥-(&, 𝑦-(&
𝑍$
𝑣𝑎𝑙𝑡
💨GPS
2.Robustness-GuidedTesting
MethodsandTools
10
FalsificationByOptimization
11-1
01
-1-0.500.51-1
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
x1x2
Robu
sten
ss
|ε||ε|
positiverobustness→ signalsatisfiestheformula
negativerobustness→ signalfalsifiestheformula
RobustnessMetric𝜀 ∈ ℝ ∪ {±∞}
MTL𝜙
[Fainekos andPappas,TCS]
SystemΣx0ÎX0u ÎUy=Δ(x0,u) 𝜙
StochasticOptimizerNext
xE ∈ 𝑋E𝑢 ∈ 𝑈
MinimumRobustnessafterterminationconditionmet
[Abbasetal.TECS]
MetricTemporalLogic• Propositionallogic+TemporalOperators
withtimingintervals• Interpretedovertraces/trajectories
• Ex.𝐺[E,K]𝑝 ∧ 𝐹 ".Q 𝑏:“always from0to5,pistrueandeventually from2to4,bistrue”
Model
Simulink/StateflowUser-definedfunctions
StochasticOptimizationEngine
SimulatedAnnealingCrossEntropyAnt-colony
GradientDescentFlexibleinitialconditionandinputsignal
generation
FeaturesFalsification
ParameterMiningRequirementEngineeringwithViSpec
RuntimeVerificationConformanceTesting
…
S-TALIRO
3.TestingUxAS
KeepOutZones
14
𝑍"
𝑑$
𝜃$
𝜃&'$𝜃(
𝑥(&(*, 𝑦(&(*
𝑥-(&, 𝑦-(&
𝑍$
𝑣𝑎𝑙𝑡
💨GPS
AutonomyMonitors
15
UxASRoutePlanner
AutomationRequest
VehicleAbstract
LineSearch
AreaSearchTask
AutonomyMonitor
…
…
LineSearch AreaSearch
AutonomyMonitor
𝜌$ 𝜌"TaskDependent
NotionofRobustness
𝜌&… …UAVTasksAssigned
UAVTasksCompleted
TestingUxASwithS-TaLiRo
16
𝜙V =X𝑀Z
Z
([$
𝜙 = 𝜙\ ∧ 𝜙VSpecification𝜙:
AutonomyMonitors:
KeepOutZones: 𝜙\ =X𝐺(𝑟( → 𝐹 E,$E ¬𝑟()&
([$
StochasticOptimization
17
AutonomyMonitoringService
PropertyMonitors
TemporalLogic
Properties
StochasticGlobal
Optimizer
SimulatorUxASAMASE
Scenario/TaskSpecifications
Disturbances
Result:Falsification
18https://youtu.be/tVB9TgwrCEc
FutureWork
19
1.ParameterMiningofMTLSpecs[Hoxhaetal.STTT]
𝜙\ =X𝐺(𝑟( → 𝐹 E,b ¬𝑟()&
([$
Whatisthevalueof𝜃?
github.com/pheidlauf/AeroBenchVV
2.MorecomplexvehicledynamicsEx:F16AircraftModel[Bak andHeidlauf]
Acknowledgments
20
GeorgiosFainekos
Cumhur E.Tuncali
SriramSankaranarayanan
GuohuiDing
Sponsors:
AFRL:• DerekKingston• LauraHumphreyVU:• TaylorJohnson• LuanVietNguyenUTAustin:• Ufuk Topcu• MohammedAlshiekhASU:• AdelDokhanchi• Shakiba Yaghoubi
ThankYouQuestions?
www.bit.ly/2HKsMQK
MTLSurveyTesthypothesisthatformalmethodsexpertscanwritecorrectMTLspecificationsfromNL
