🤖 AI Summary
论文提出一种混合关键性架构框架，通过硬件隔离安全监控和健康向量等方法确保无人机群在关键任务中的安全性和可靠性。
📝 Abstract
The certification of Unmanned Aerial Vehicle (UAV) swarms for safety-critical operations requires verifiable design assurance. Airworthiness standards demand deterministic reliability, whereas multi-agent coordination algorithms execute non-deterministic models. This paper proposes a mixed-criticality architectural framework that applies SAE ARP4754B methods to swarm reconfiguration. First, a hardware-isolated Safety Monitor functions as a Run-Time Assurance (RTA) gateway, decoupling the flight-critical core from the non-deterministic Swarm Manager. Second, the monitor enforces formal safety contracts based on agent Health Vectors derived systematically from a Functional Hazard Assessment (FHA). Third, the framework propagates these Health Vectors to the collective planner to trigger fail-operational task reallocation, enabling intelligent swarm behaviors without compromising flight-critical isolation. Markov reliability modeling demonstrates that the $10^{-7}$ failures per flight hour Hazardous target is theoretically achievable for our SAIL IV scenario, provided the Safety Monitor meets $C_{monitor}>0.9991$, consistent with DAL B CMD/MON implementations.