论文标题
SkyTrakx:用于模拟和验证无人空运管理系统(扩展版)的工具包
SkyTrakx: A Toolkit for Simulation and Verification of Unmanned Air-Traffic Management Systems (Extended Version)
论文作者
论文摘要
无人飞机系统(UAS)安全有效交通管理的关键概念是操作量(OV)的概念。 OV是空域和时间的4维块,可以表达飞机的意图,可用于计划,消除交通管理和交通管理。尽管有几个用于UAS交通管理(UTM)的高级模拟器,但我们缺乏创建,操纵和关于异质空气车的OV的框架。在本文中,我们解决了这一点并介绍SkyTrakx-一个用于基于OVS的UTM方案的软件工具包。首先,我们通过提出特定的空中交通协调协议来说明SkyTrakx的用例。该协议在参与飞机和空域经理之间进行交流以进行交通路线。我们展示了现有的正式验证工具DAFNY和DIONE如何可以自动检查协议的关键属性。其次,我们展示了如何使用另一种验证技术(即可及性分析)来计算异质飞机(如四轮驱动机和固定翼飞机)的异质空气车。最后,我们表明,SkyTrakx可用于模拟涉及异构车辆的复杂场景,以在工作量和响应延迟分析方面进行测试和性能评估。我们的实验描述了在产生OVS的不同策略中的性能和工作量之间的权衡。
The key concept for safe and efficient traffic management for Unmanned Aircraft Systems (UAS) is the notion of operation volume (OV). An OV is a 4-dimensional block of airspace and time, which can express an aircraft's intent, and can be used for planning, de-confliction, and traffic management. While there are several high-level simulators for UAS Traffic Management (UTM), we are lacking a framework for creating, manipulating, and reasoning about OVs for heterogeneous air vehicles. In this paper, we address this and present SkyTrakx -- a software toolkit for simulation and verification of UTM scenarios based on OVs. First, we illustrate a use case of SkyTrakx by presenting a specific air traffic coordination protocol. This protocol communicates OVs between participating aircraft and an airspace manager for traffic routing. We show how existing formal verification tools, Dafny and Dione, can assist in automatically checking key properties of the protocol. Second, we show how the OVs can be computed for heterogeneous air vehicles like quadcopters and fixed-wing aircraft using another verification technique, namely reachability analysis. Finally, we show that SkyTrakx can be used to simulate complex scenarios involving heterogeneous vehicles, for testing and performance evaluation in terms of workload and response delays analysis. Our experiments delineate the trade-off between performance and workload across different strategies for generating OVs.