  The autonomous control of unmanned aircraft is a highly safety-critical
domain with great economic potential in a wide range of application areas,
including logistics, agriculture, civil engineering, and disaster recovery. We
report on the development of a dynamic monitoring framework for the DLR ARTIS
(Autonomous Rotorcraft Testbed for Intelligent Systems) family of unmanned
aircraft based on the formal specification language RTLola. RTLola is a
stream-based specification language for real-time properties. An RTLola
specification of hazardous situations and system failures is statically
analyzed in terms of consistency and resource usage and then automatically
translated into an FPGA-based monitor. Our approach leads to highly efficient,
parallelized monitors with formal guarantees on the noninterference of the
monitor with the normal operation of the autonomous system.
