Independent and Configurable Architecture for
Reliable Operations of Unmanned Systems
(ICAROUS) is a software architecture that enables the robust
integration of mission specific software modules and highly assured
core software modules for building safety-centric autonomous unmanned
aircraft applications. The set of core software modules include
formally verified algorithms that
- detect, monitor, and control
conformance to safety criteria;
- avoid stationary and dynamic obstacles and maintain a safe distance from
other users of the airspace; and
- compute resolution and recovery maneuvers, autonomously executed
by the autopilot, when safety criteria are violated or about to be
violated.
ICAROUS is available under NASA's Open Source Agreement from GitHub.
ICAROUS won 2nd place at the
XCELLENCE Awards by the Association for Unmanned Vehicles Systems
International (AUVSI) in the category of Detect and Avoid
solutions. The AUVSI XCELLENCE Awards honor innovators in the
unmanned systems industry, including individuals and organizations,
with a demonstrated commitment to advancing technology, leading and
promoting safe operations, and developing programs that use unmanned
systems to improve the human condition.
In the News
Videos
Publications
- Laura R. Humphrey and César A. Muñoz, Preliminary application of formal verification to an autonomy architecture for unmanned aircraft, Proceedings of the 34th International Congress of the Aeronautical
Sciences (ICAS 2024), 2024. BibTeX
Reference.
- Andrew Peters, Swee Balachandran, Brendan Duffy, Kyle Smalling,
María Consiglio, and César Muñoz, Flight Test Results of a Distributed Merging Algorithm for Autonomous UAS Operations,
Proceedings of the 39th Digital Avionics Systems Conference (DASC 2020),
Virtual Conference, US, 2020. BibTeX
Reference.
- Brendan Duffy, Swee Balachandran, Andrew Peters, Kyle Smalling,
María Consiglio, Louis Glaab, Andrew Moore, and César Muñoz, Onboard Autonomous Sense and Avoid of Non-Conforming Unmanned Aerial Systems,
Proceedings of the 39th Digital Avionics Systems Conference (DASC 2020),
Virtual Conference, US, 2020. BibTeX
Reference.
- Sami Mian, Tyler Garrett, Alexander Glandon, Christopher
Manderino, Swee Balachandran, César Muñoz, and Chester
Dolph, Autonomous Spacecraft Inspection with Free-Flying Drones,
Proceedings of the 39th Digital Avionics Systems Conference (DASC 2020),
Virtual Conference, US, 2020. BibTeX
Reference.
- Swee Balachandran, Christopher Manderino, César
Muñoz, and María Consiglio, A
Decentralized Framework to Support UAS Merging and Spacing
Operations in Urban Canyons, Proceedings of 2020
International Conference on Unmanned Aircraft Systems (ICUAS 2020), 2020. BibTeX Reference.
- Brendan Duffy, Swee Balachandran, María
Consiglio, Louis Glaab, César Muñoz, Kyle Smalling,
Nicholas Rymer, David Bradley, David Hare, Richard Grube, Matthew
Coldsnow, Scott Sims, Jeffrey Hill, and Mahyar Malekpour,
Sense and Avoid Characterization of the ICAROUS Architecture
,
Technical Memorandum, NASA/TM-2020-220591,
May 2020. BibTeX
Reference.
- Swee Balachandran, Viren Bajaj, Marco Feliú, César Muñoz, and María
Consiglio, A Learning-Based Guidance Selection Mechanism for a Formally Verified Sense and Avoid Algorithm,
Proceedings of the 38th Digital Avionics Systems Conference (DASC 2019),
San Diego, California, US, 2019. BibTeX
Reference.
-
María
Consiglio, Brendan Duffy, Swee Balachandran, Louis Glaab, and César Muñoz,
Sense and Avoid Characterization of the Independent Configurable Architecture for Reliable Operations of Unmanned Systems,
Proceedings of the 13th USA/Europe Air Traffic Management Research and Development Seminar (ATM2019), ATM-2019-50, 2019. BibTeX Reference.
-
George N. Szatkowski, Andrew Kriz, Larry A. Ticatch, Robert Briggs,
John Coggin, and Christopher M. Morris,
Airborne Radar for sUAS Sense and Avoid,
Proceedings of the 38th Digital Avionics Systems Conference (DASC 2019),
San Diego, California, US, 2019.
-
Brendan Duffy and Louis Glaab,
Variable-power ADS-B for UAS,
Proceedings of the 38th Digital Avionics Systems Conference (DASC 2019),
San Diego, California, US, 2019.
- Swee Balachandran, Anthony Narkawicz, César Muñoz,
and María
Consiglio,
A geofence violation prevention mechanism for small UAS,
Proceedings of the 31st Congress of the International Council of the
Aeronautical Sciences (ICAS 2018),
Bello Horizonte, Brazil, 2018. BibTeX
Reference.
- Swee Balachandran, César Muñoz, María
Consiglio, Marco Feliú and Anand Patel, Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed On-Board Services,
Proceedings of the 37th Digital Avionics Systems Conference (DASC 2018),
London, England, UK, 2018. BibTeX
Reference.
- Swee Balachandran, César Muñoz,
and María
Consiglio,
Distributed Consensus to Enable Merging and Spacing of UAS in an Urban Environment,
Proceedings of the 2018 International Conference on Unmanned
Aircraft Systems (ICUAS 2018), Dallas, Texas, USA, 2018. BibTeX
Reference.
-
Andrew J. Moore, Swee Balachandran, Steven Young, Evan Dill,
Michael Logan, Louis Glaab, César A. Muñoz, and María Consiglio,
Testing Enabling Technologies for Safe UAS Urban Operations,
Proceedings of the 2018 Aviation, Technology, Integration, and Operations Conference, 2018. BibTeX Reference.
-
Andrew J. Moore, Matthew Schubert, Nicholas Rymer, Swee
Balachandran, María Consiglio, César A. Muñoz,
Joshua Smith, Dexter Lewis, Paul Schneider,
Inspection of electrical transmission structures with UAV path conformance and lidar-based geofences,
Proceedings of the 2018 IEEE Power & Energy Society Innovative
Smart Grid Technologies Conference (ISGT), 2018. BibTeX Reference.
-
Andrew J. Moore, Matthew Schubert, Nicholas Rymer, Swee
Balachandran, María Consiglio, César A. Muñoz,
Joshua Smith, Dexter Lewis, Paul Schneider,
UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-based Geofences NASA Report on UTM Reference Mission Flights at
Southern Company Flights November 2016,
Technical Memorandum, NASA/TM-2017-219673,
October 2017. BibTeX Reference.
- Marco A. Feliú, Camilo Rocha, and Swee Balachandran.
Verification-driven Development of ICAROUS Based on Automatic Reachability Analysis,
International SPIN Symposium on Model Checking of Software (SPIN
2017), Santa Barbara, CA, USA, July 2017.
-
Swee Balachandran, Anthony Narkawicz, César Muñoz, and María
Consiglio,
A Path Planning Algorithm to Enable Well-Clear Low Altitude UAS Operation Beyond Visual Line of Sight,
Proceedings of the 12th USA/Europe Air Traffic Management Research and Development Seminar (ATM2017), ATM-2017-16, 2017. BibTeX Reference.
-
Swee Balachandran, César Muñoz, and María
Consiglio,
Implicitly Coordinated Detect and Avoid Capability for Safe Autonomous Operation of Small UAS,
Proceedings of the 17th AIAA Aviation Technology, Integration, and
Operations Conference (ATIO 2017), AIAA-2017-4484, 2017. BibTeX Reference.
- María Consiglio, César Muñoz, George Hagen,
Anthony Narkawicz, and Swee Balachandran, ICAROUS: Integrated Configurable Algorithms for Reliable Operations of Unmanned Systems,
Proceedings of the 35th Digital Avionics Systems Conference (DASC 2016),
Sacramento, California, 2016. BibTeX Reference.
*The ICAROUS logo was designed by Mahyar Malekpour (NASA).
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