This software release contains ICAROUS and PolyCARP software distributions.

ICAROUS (Integrated Configurable Algorithms for Reliable Operations of Unmanned Systems) is a software architecture that enables the robust integration of mission specific software modules and highly assured core software modules for building safety-centric autonomous unmanned aircraft applications. The set of core software modules include formally verified algorithms that (1) detect, monitor, and control conformance to safety criteria; (2) avoid stationary obstacles and maintain a safe distance from other users of the airspace; and (3) compute resolution and recovery maneuvers, autonomously executed by the autopilot, when safety criteria are violated or about to be violated.

PolyCARP (Algorithms and Software for Computations with Polygons) is a package of algorithms, including both their formal models and software implementations, for computing containment, collision, resolution, and recovery information for polygons. The intended applications of PolyCARP are related, but not limited, to safety critical systems in air traffic management.

The API document for ICAROUS is still work in progress. In the meantime, please refer to Java/README.md for instructions on running ICAROUS, to the directory TestCases for examples of Software in the Loop (SITL) test cases, and to Java/DAAGeofencingExample.java for a simple example of ICAROUS' DAA (Detect and Avoid) and geo-fencing capabilities. This later example is also available in C++.

For technical information about the definitions and algorithms in this repository, visit http://shemesh.larc.nasa.gov/fm/ICAROUS.

ICAROUS 1.0 (November 18, 2016)

This code is released under NASA's Open Source Agreement. For more information see files in directory LICENSES.

César A. Muñoz ([email protected]), NASA Langley Research Center.

The ICAROUS logo was designed by Mahyar Malekpour, NASA Langley Research Center.