Incident Review & Replay
INC-2041 · KIRRA-13 · Envelope breach → DAG lockout
Simulated dataKINEMATIC_ENVELOPE_BREACHHuman-reset
Replay
t = 0s · 12:02:40
12:02:34 · lead-up▲ trigger12:02:43 · safe stop
Posture
Degraded
Commanded speed
2.0m/s
Governor verdict
DENY
Event at 12:02:40
malformed cmd_vel 999 m/s → KINEMATIC_ENVELOPE_BREACH
Spatial Replay
position over time · ego advances with the scrubber
traveled path planned keep-out zonefront cone = radar health · confidence below floor
Sensor Playback
t = 0s · 12:02:40
LiDAR (top)OK
Radar (front)fault
Camera ×6OK
Localization confidence0.41
floor ≥ 0.60 · breached → Degraded
Frame Log
full second-by-second reconstruction
- -6s12:02:34ALLOWcmd_vel 1.2 m/s dispatched — nominal cruise
- -5s12:02:35ALLOWcmd_vel 1.4 m/s — within envelope
- -4s12:02:36ALLOWradar return intermittent — confidence 0.71
- -3s12:02:37ALLOWplanner requests acceleration to 2.4 m/s
- -2s12:02:38CLAMPconfidence 0.54 < floor → posture Degraded; speed clamped 2.0 m/s
- -1s12:02:39CLAMPplanner re-requests 3.1 m/s → decel-bound denied
- 0s12:02:40DENYmalformed cmd_vel 999 m/s → KINEMATIC_ENVELOPE_BREACH
- +1s12:02:41DENYcycle detected in dependency DAG → KIRRA-13 isolated
- +2s12:02:42DENYMRC controlled stop engaged — brakes A/B
- +3s12:02:43—asset at full stop — HOLD; human reset required
Root-Cause Analysis
post-incident finding
- Trigger
Upstream planner emitted cmd_vel linear = 999 m/s
- Contributing
Front radar degraded → sensor confidence fell below 0.60 floor
- Governor action
DENY at envelope check; DAG lockout isolated the node; MRC stop
- Outcome
No motion past breach. Decel-to-stop in 3.0 s. Zero envelope excursion.
Incident History
all logged fail-closed events
| ID | Timestamp | Asset | Incident | Duration | Status |
|---|---|---|---|---|---|
| INC-2041 | 2026-06-14 12:02:40 | KIRRA-13 | Envelope breach → DAG lockout | 12s | Human-reset |
| INC-2038 | 2026-06-14 11:58:03 | KIRRA-10 | Sensor confidence floor breach | 41s | Resolved |
| INC-2030 | 2026-06-14 10:22:10 | fleet-dag | Dependency cycle detected | 8s | Resolved |
| INC-2024 | 2026-06-13 19:41:55 | KIRRA-09 | Unknown action type rejected | 1s | Resolved |