Integrated Simulation and Formal Verification of a Simple Autonomous Vehicle

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

Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter

“…Therefore, we considered both factors in addition to taking into account dynamical actuator constraints based on practical parameters. For control verification, several attempts have been proposed to verify simple control systems such as in [22], [23], [24] and [25], and for hybrid verification systems as in [26]. These approaches have been developed based on interactive theorem provers, which need interaction with humans to complete proofs.…”

“…The vehicle Euler acceleration is obtained from the dynamics in (1) and the control law in (10) as (22) and after few simplifications, we geẗ…”

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“…The procedure proposed in this paper had been used, before being laid down explicitly, in the analysis of a simple robotic vehicle [2] and of a synchronous motor [1]. In both cases, formal verification was complemented by simulation, and in the latter, by design space analysis.…”

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“…There has been a considerable body of cosimulation-related literature produced in the past few years [19][20][21]. For an extensive survey of this literature, see [1].…”