Runtime verification for autonomous spacecraft software

Autonomous systems are systems that can operate without human interference for extended periods of time in changing environments, likely in remote locations. Software is usually an essential part of such systems. However, adaptation of autonomy software is limited by its complexity and the difficulty of verifying and validating it. We describe an approach named runtime verification for testing autonomy software. Runtime verification is a technique for generating test oracles from abstract specifications of expected behavior. We describe its application to the PLASMA planning system, used in the recent Mars exploration rover missions. We furthermore discuss alternative autonomy V&V approaches.