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  1. Proceedings of the 2nd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use (DroNet '16)
  2. Model-based Real-time Testing of Drone Autopilots
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Autonomous Mobile Drone Mesh Networks
Towards Single-Failure-Tolerant Multicopters
Enhancing TV White-Spaces Database with Unmanned Aerial Scanning Vehicles (UASVs)
Cloudrone: Micro Clouds in the Sky
Drones in the Smart City and IoT: Protocols, Resilience, Benefits, and Risks
Model-based Real-time Testing of Drone Autopilots
A Security Framework for a Drone Delivery Service
Virtual Space Boxes and Drone-as-Reference-Station Localisation for Drone Services: an Approach Based on Signal Strengths
Investigating Cost-effective RF-based Detection of Drones
Generic Drone Control Platform for Autonomous Capture of Cinema Scenes
UAV Multilevel Swarms for Situation Management
PI in the Sky

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Model-based Real-time Testing of Drone Autopilots

Content Provider ACM Digital Library
Author Mottola, Luca Patelli, Andrea
Abstract Key to the operation of robot drones is the autopilot software that realizes the low-level control. The correctness of autopilot implementations is currently mainly verified based on simulations. These may overlook the timing aspects of control loop executions, which are however fundamental to dependable operation. We report on our experience in applying model-based real-time testing to Ardupilot, a widely adopted autopilot. We describe our approach at deriving a model of Ardupilot's core functionality and at reducing the model to enable practical testing. Our work reveals that Ardupilot may fail in meeting the time constraints associated to critical functionality, such as enabling fail-safe operation. Through controlled experiments, we demonstrate the real-world occurrence of such erroneous executions.
Starting Page 11
Ending Page 16
Page Count 6
File Format PDF
ISBN 9781450344050
DOI 10.1145/2935620.2935630
Language English
Publisher Association for Computing Machinery (ACM)
Publisher Date 2016-06-26
Publisher Place New York
Access Restriction Subscribed
Subject Keyword Drone autopilots Real-time Testing
Content Type Text
Resource Type Article
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