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Integrated Simulation and Formal Verification of a Simple Autonomous Vehicle

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Software Engineering and Formal Methods (SEFM 2017)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10729))

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Abstract

This paper presents a proof-of-concept application of an approach to system development based on the integration of formal verification and co-simulation. A simple autonomous vehicle has the task of reaching an assigned straight path and then follow it, and it can be controlled by varying its turning speed. The correctness of the proposed control law has been formalized and verified by interactive theorem proving with the Prototype Verification System. Concurrently, the system has been co-simulated using the Prototype Verification System and the MathWorks Simulink tool: The vehicle kinematics have been simulated in Simulink, whereas the controller has been modeled in the logic language of the Prototype Verification System and simulated with the interpreter for the same language available in the theorem proving environment. With this approach, co-simulation and formal verification corroborate each other, thus strengthening developers’ confidence in their analysis.

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Author information

Authors and Affiliations

  1. Department of Information Engineering, University of Pisa, Pisa, Italy

    Andrea Domenici & Maurizio Palmieri

  2. Department of Energy, Information Engineering and Mathematical Models (DEIM), University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. DINFO, University of Florence, Florence, Italy

    Maurizio Palmieri

Authors
  1. Andrea Domenici
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  2. Adriano Fagiolini
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  3. Maurizio Palmieri
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Corresponding author

Correspondence to Andrea Domenici .

Editor information

Editors and Affiliations

  1. Nazarbayev University, Astana, Kazakhstan

    Antonio Cerone

  2. Fondazione Bruno Kessler, Povo, Italy

    Marco Roveri

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Domenici, A., Fagiolini, A., Palmieri, M. (2018). Integrated Simulation and Formal Verification of a Simple Autonomous Vehicle. In: Cerone, A., Roveri, M. (eds) Software Engineering and Formal Methods. SEFM 2017. Lecture Notes in Computer Science(), vol 10729. Springer, Cham. https://doi.org/10.1007/978-3-319-74781-1_21

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  • DOI: https://doi.org/10.1007/978-3-319-74781-1_21

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