Tool-based verification of ARP Contingency Software: By December, 2004, extend the TEAMS tool for the Rotorcraft to model, analyze for fault-isolation and testability, and verify contingency software (scripts) to handle identified high-concern contingencies. ($130K)

Identify MSL Contingencies: By June, 2005, identify a set of high-concern contingencies not currently handled in autonomous fault protection on Mars Science Laboratory (rover). ($160K)

Tool-based verification of MSL Contingency Software: By December, 2005, model MSL using existing COTS or research fault-isolation tools and verify contingency software to handle identified high-concern contingencies. ($170K)

Safe-release Contingencies: By June, 2006, apply the SAFE technique to investigate and model with TEAMS key contingencies involved in safe release of Rotorcraft from remote-piloted to autonomous operation. ($170K)

Demonstration: By January, 2007, demonstrate and verify a subset of the contingency responses we have developed on available platforms (e.g., existing ARP simulator, ARP APEX reactive planner, and, perhaps, the actual RMAX helicopter; existing MSL rover simulator). ($170K)