The Ingenuity Mars Helicopter Specified and Analyzed with the Real-time Mode-aware Dataflow Model

TL;DR

This paper demonstrates how the Real-time Mode-aware Dataflow (RMDF) model can be used to specify, analyze, and understand the timing behavior of the Ingenuity Mars Helicopter, enhancing safety and reliability in autonomous space missions.

Contribution

The paper applies the RMDF model to specify and analyze Ingenuity's timing behavior, including a feasibility test and explanation of a timing anomaly, advancing formal methods for space CPS.

Findings

Successful specification and analysis of Ingenuity using RMDF

Identification of a plausible explanation for the sixth flight timing anomaly

Feasibility testing confirms the model's applicability

Abstract

Ingenuity is an autonomous Cyber-Pysical System (CPS) that has successfully completed more than 70 flights over Mars between 2021 and 2024. Ensuring the safety of its mission is paramount, as any failure could result in catastrophic economic damage and significant financial losses. Dataflow Models of Computation and Communication (DF MoCCs) serve as a formal framework for specifying and analyzing the timing behavior of such CPSs. In particular, the Real-time Mode-aware Dataflow (RMDF) model is highly suitable to specify and analyze real-time and mode-dependent Cyber-Physical Systems (CPSs) like Ingenuity. This paper showcases the application of RMDF for the specification and analysis of Ingenuity. We propose a dataflow specification of Ingenuity, analyze its timing behavior, and provide a feasibility test. Finally, we proposed a plausible explanation of the timing anomaly that occurred during the sixth flight of Ingenuity.