A Simplex Architecture for Intelligent and Safe Unmanned Aerial Vehicles

Vivekanandan, Prasanth; Garcia, Gonzalo; Yun, Heechul; Keshmiri, Shawn

doi:10.1109/rtcsa.2016.17

Cited by 19 publications

(12 citation statements)

References 20 publications

(33 reference statements)

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“…However, the high latency introduced by the virtual machine makes it impossible to enforce more real-time resource control. The Simplex architecture has also been implemented using two heterogeneous hardware in [33]. However, they focus more on software bugs and transient hardware faults.…”

Section: Related Workmentioning

confidence: 99%

A Container-based DoS Attack-Resilient Control Framework for Real-Time UAV Systems

Chen

Feng

Wen

et al. 2019

2019 Design, Automation &Amp; Test in Europe Conference &Amp; Exhibition (DATE)

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The Unmanned aerial vehicles (UAVs) sector is fastexpanding. Protection of real-time UAV applications against malicious attacks has become an urgent problem that needs to be solved. Denial-of-service (DoS) attack aims to exhaust system resources and cause important tasks to miss deadlines. DoS attack may be one of the common problems of UAV systems, due to its simple implementation. In this paper, we present a software framework that offers DoS attack-resilient control for real-time UAV systems using containers: ContainerDrone. The framework provides defense mechanisms for three critical system resources: CPU, memory, and communication channel. We restrict attacker's access to CPU core set and utilization. Memory bandwidth throttling limits attacker's memory usage. By simulating sensors and drivers in the container, a security monitor constantly checks DoS attacks over communication channels. Upon the detection of a security rule violation, the framework switches to the safety controller to mitigate the attack. We implemented a prototype quadcopter with commercially offthe-shelf (COTS) hardware and open-source software. Our experimental results demonstrated the effectiveness of the proposed framework defending against various DoS attacks.

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Section: Related Workmentioning

confidence: 99%

A Container-based DoS Attack-Resilient Control Framework for Real-Time UAV Systems

Chen

Feng

Wen

et al. 2019

2019 Design, Automation &Amp; Test in Europe Conference &Amp; Exhibition (DATE)

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“…Simplex architectures and arbitration logic: Simplex Architectures [10] have been extensively used in CPS to provide safety guarantees to control systems. They have been used in online control systems [26], real time embedded systems [27], and unmanned aerial vehicles (UAV) [11]. These implementations use arbitration logic to switch between the controllers.…”

Section: Related Workmentioning

confidence: 99%

Augmenting Learning Components for Safety in Resource Constrained Autonomous Robots

Ramakrishna

Dubey

Burruss

et al. 2019

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC)

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Learning enabled components (LECs) trained using data-driven algorithms are increasingly being used in autonomous robots commonly found in factories, hospitals, and educational laboratories. However, these LECs do not provide any safety guarantees, and testing them is challenging. In this paper, we introduce a framework that performs weighted simplex strategy based supervised safety control, resource management and confidence estimation of autonomous robots. Specifically, we describe two weighted simplex strategies: (a) simple weighted simplex strategy (SW-Simplex) that computes a weighted controller output by comparing the decisions between a safety supervisor and an LEC, and (b) a context-sensitive weighted simplex strategy (CSW-Simplex) that computes a context-aware weighted controller output. We use reinforcement learning to learn the contextual weights. We also introduce a system monitor that uses the current state information and a Bayesian network model learned from past data to estimate the probability of the robotic system staying in the safe working region. To aid resource constrained robots in performing complex computations of these weighted simplex strategies, we describe a resource manager that offloads tasks to an available fog nodes. The paper also describes a hardware testbed called DeepNNCar, which is a low cost resource-constrained RC car, built to perform autonomous driving. Using the hardware, we show that both SW-Simplex and CSW-Simplex have 40% and 60% fewer safety violations, while demonstrating higher optimized speed during indoor driving (∼ 0.40 m/s) than the original system (using only LECs).

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“…Some Simplex-based designs such as System-Level Simplex [BCA + 09], Secure System Simplex Architecture (S3A) [MBB + 13], and other variants [VGYK16] run the safety controller and the decision logic on an isolated, dedicated hardware unit. By doing so, the trusted components are protected from the faults in the complex subsystem.…”

Section: Related Workmentioning

confidence: 99%

Software Fault Tolerance for Cyber-Physical Systems via Full System Restart

Jagtap¹,

Abdi²,

Rungger³

et al. 2018

Preprint

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The paper addresses the issue of reliability of complex embedded control systems in the safetycritical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical systems, (ii) enables safe system restart during runtime, and (iii) allows the use of complex, unverified controllers (e.g., neural networks) that drive the physical systems towards complex specifications. We use abstraction-based controller synthesis approach to design formally verified controller that provides application and system-level fault tolerance along with safety guarantee. Moreover, our approach is implementable using commercial-off-the-shelf (COTS) processing unit. To demonstrate the efficacy of our solution and to verify the safety of the system under various types of faults injected in applications and in underlying real-time operating system (RTOS), we implemented the proposed controller for the inverted pendulum and three degree-of-freedom (3-DOF) helicopter.1 Such systems usually use the operating system (OS) primitives to perform I/O or to set up concurrent threads [Lee08], utilize vendor developed drivers and use open source libraries [SOAB + 14].2 In this paper, safety means not to violate the constraints of the physical components.

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A Simplex Architecture for Intelligent and Safe Unmanned Aerial Vehicles

Cited by 19 publications

References 20 publications

A Container-based DoS Attack-Resilient Control Framework for Real-Time UAV Systems

A Container-based DoS Attack-Resilient Control Framework for Real-Time UAV Systems

Augmenting Learning Components for Safety in Resource Constrained Autonomous Robots

Software Fault Tolerance for Cyber-Physical Systems via Full System Restart

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