Accounting for helpful and harmful human reactions in run-time assurance frameworks

Run-Time Assurance is a hybrid controller architecture that bounds the behavior of a nondeterministic or intractably complex primary controller by monitoring vehicle state and switching over to a simpler, more straightforward controller that single-mindedly avoids a given hazard. Multiple layers of Run-Time Assurance protections allow for the benefits of a human contribution to aid in upset prevention while maintaining a safety net of automatic recovery in case the pilot's action is harmful, insufficient, or nonexistent. This research is an incremental step toward completing the Stall Prevention and Run Time Assurance (SPaRTA) project at the University of Tulsa.