Document Type

Conference Paper

Subject Area

CPS Model-Based Design, CPS Formal Methods

Date of this Version


Publication Source

NFM 2019: 11th Annual NASA Formal Methods Symposium


Safe planning for fleets of Unmaned Aircraft Systems (UAS) performing complex missions in urban environments has typically been a challenging problem. In the United States of America, the National Aeronautics and Space Administration (NASA) and the Federal Aviation Administration (FAA) have been studying the regulation of the airspace when multiple such fleets of autonomous UAS share the same airspace, outlined in the Concept of Operations document (ConOps). While the focus is on the infrastructure and management of the airspace, the Unmanned Aircraft System (UAS) Traffic Management (UTM) ConOps also outline a potential airspace reservation based system for operation where operators reserve a volume of the airspace for a given time inter- val to operate in, but it makes clear that the safety (separation from other aircraft, terrain, and other hazards) is a responsibility of the drone fleet operators. In this work, we present a tool that allows an operator to plan out missions for fleets of multi-rotor UAS, performing complex time- bound missions. The tool builds upon a correct-by-construction planning method by translating missions to Signal Temporal Logic (STL). Along with a simple user interface, it also has fast and scalable mission planning abilities. We demonstrate our tool for one such mission.


uas mission planning · signal temporal logic · correct- by-construction planning · multi-rotor uas

Bib Tex

@inproceedings{pant19tool, author = {Pant, Yash Vardhan and Quaye, Rhudii A. and Abbas, Houssam and Varre, Akarsh and Mangharam, Rahul}, title = {{Fly-by-Logic: A Tool for Unmanned Aircraft System Fleet Planning using Temporal Logic}}, booktitle = {NFM 2019: 11th Annual NASA Formal Methods Symposium}, series = {NFM '19}, year = {2019}, keywords = {UAS mission planning, Signal Temporal Logic, Correct-by-construction planning, Multi-rotor UAS} }



Date Posted: 25 March 2019

This document has been peer reviewed.