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Software and Systems Modeling
Published in: Software and Systems Modeling 4/2022

22-02-2022 | Theme Section Paper

Online adaptation for autonomous unmanned systems driven by requirements satisfaction model

Authors: Yixing Luo, Yuan Zhou, Haiyan Zhao, Zhi Jin, Tianwei Zhang, Yang Liu, Danny Barthaud, Yijun Yu

Published in: Software and Systems Modeling | Issue 4/2022

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Abstract

Autonomous unmanned systems (AUSs) emerge to replace human operators for achieving better safety, efficiency, and effectiveness in harsh and difficult missions. They usually run in a highly open and dynamic operating environment, in which some unexpected situations may occur, leading to violations of predefined requirements. In order to maintain stable performance, the AUS control software needs to predict in advance whether the requirements will be violated and then make adaptations to maximize requirements satisfaction. We propose \(\mathtt {Captain}\), a model-driven and control-based online adaptation approach, for the AUS control software. At the modeling phase, apart from the system behavior model and the operating environment model, we construct a requirements satisfaction model. At runtime, based on the requirements satisfaction model, \(\mathtt {Captain}\) first predicts whether the requirements will be violated in the upcoming situation; then identifies the unsatisfiable requirements that need to be accommodated; and finally, finds an optimal adaptation for the upcoming situation. We evaluate \(\mathtt {Captain}\) in both simulated scenarios and the real world. For the former, we use two cases of UAV Delivery and UUV Ocean Surveillance, whose results demonstrate the \(\mathtt {Captain}\) ’s robustness, scalability, and real-time performance. For the latter, we have successfully implemented \(\mathtt {Captain}\) in the DJI Matrice 100 UAV with real-world workloads.
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Appendix
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Footnotes
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Metadata
Title
Online adaptation for autonomous unmanned systems driven by requirements satisfaction model
Authors
Yixing Luo
Yuan Zhou
Haiyan Zhao
Zhi Jin
Tianwei Zhang
Yang Liu
Danny Barthaud
Yijun Yu
Publication date
22-02-2022
Publisher
Springer Berlin Heidelberg
Published in
Software and Systems Modeling / Issue 4/2022
Print ISSN: 1619-1366
Electronic ISSN: 1619-1374
DOI
https://doi.org/10.1007/s10270-022-00981-7

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