5. Conclusion and outlook

In this article, we have presented a classic way of breaking down autonomous navigation into sub-problems. For the vehicle to be able to navigate, these different systems need to be integrated into a more global architecture. Since safety is fundamental, given the potential damage these vehicles can cause, this architecture needs to incorporate a monitor that checks the correct operation of the various subsystems in real time. This monitor must also check that the quality of navigation information is appropriate to the task in hand. This is the notion of integrity. The most critical systems must also be subject to dependability considerations, such as fault tolerance with redundancy. As we have already mentioned, external information received by wireless means of communication needs to be treated with a secure approach. The cybersecurity problems associated with autonomous vehicles are...