Table 2 Robustness verification results.

From: Verification of temporal consistency constraints in the evolution of software for intelligent unmanned systems driven by model checking

Test Scenario

Injection Method

Fault Tolerance Threshold

(ms)

Recovery Success Rate(%)

Maximum Recovery Time (ms)

Clock drift attack

T_SM_local\(\:+=\varvec{\delta\:}\varvec{t}\)

\(\:\varvec{\delta\:}\varvec{t}\le\:3\)

98.7

15

Data processor crash

Randomly set DPM_done = false

N/A

95.2

30

Communication delay

Transmission delay + 5ms

\(\:\le\:5\)

99.1

10

Multi-module concurrent faults

Combination of the above faults

Comprehensive

90.3

45

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