ICAROUS (Independent Configurable Architecture 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 includes formally verified algorithms that detect, monitor, and control conformance to safety criteria; avoid stationary obstacles and maintain a safe distance from other users of the airspace; and compute resolution and recovery maneuvers, autonomously executed by the autopilot, when safety criteria are violated or about to be violated. ICAROUS is implemented using the NASA's core Flight Systems (cFS) middleware. The aforementioned functionalities are implemented as cFS applications which interact via a publish/subscribe messaging service provided by the cFS Software Bus.

https://nasa.github.io/icarous/

• ICAROUS V-2.2.5 - March 8, 2021

Refer to Python/pycarous/README.md for more information about the Icarous python framework.

The code in this repository is released under NASA's Open Source Agreement. See the directory LICENSES; see also the copyright notice at the end of this file.

Maria Consiglio ([email protected]), NASA Langley Research Center.

ICAROUS integrates NASA's open source software packages DAIDALUS (Detect and Avoid Alerting Logic for Unmanned Systems) and PolyCARP (Algorithms and Software for Computations with Polygons). DAIDALUS provides detect and avoid capabilities, while PolyCARP provides geofencing capabilities.

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

Copyright 2016 United States Government as represented by the Administrator of the National Aeronautics and Space Administration. All Rights Reserved.

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