Verification Challenges in F-16 Ground Collision Avoidance and Other Automated Maneuvers

Benchmark Proposal: The F-16 Fighting Falcon is a highly-maneuverable aircraft in production since the 1970s. Since then, several studies and books have investigated the aircraft’s performance and created simulation models. In this paper, we present some of these models as a verification challenge, providing MATLAB and Python code to simulate an F-16 performing ground collision avoidance as well as other autonomous maneuvers. The aircraft model and inner-loop controller has 16 continuous variables with piecewise nonlinear differential equations. Autonomous maneuvers are performed by an outer-loop controller using finite-state machines with guards involving the continuous variables. Passfail specifications are provided based on the aircraft flight limits and boundaries of the model. This model aims to be a starting point for analyzing detailed behaviors of aerospace systems.