  Perception, Planning, and Control form the essential components of autonomy
in advanced air mobility. This work advances the holistic integration of these
components to enhance the performance and robustness of the complete
cyber-physical system. We adapt Perception Simplex, a system for verifiable
collision avoidance amidst obstacle detection faults, to the vertical landing
maneuver for autonomous air mobility vehicles. We improve upon this system by
replacing static assumptions of control capabilities with dynamic confirmation,
i.e., real-time confirmation of control limitations of the system, ensuring
reliable fulfillment of safety maneuvers and overrides, without dependence on
overly pessimistic assumptions. Parameters defining control system capabilities
and limitations, e.g., maximum deceleration, are continuously tracked within
the system and used to make safety-critical decisions. We apply these
techniques to propose a verifiable collision avoidance solution for autonomous
aerial mobility vehicles operating in cluttered and potentially unsafe
environments.
