Chapter

FM 2012: Formal Methods

Volume 7436 of the series Lecture Notes in Computer Science pp 52-67

A Formal Approach to Autonomous Vehicle Coordination

  • Mikael AsplundAffiliated withLero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and Statistics, Trinity College Dublin
  • , Atif ManzoorAffiliated withLero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and Statistics, Trinity College Dublin
  • , Mélanie BourocheAffiliated withLero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and Statistics, Trinity College Dublin
  • , Siobhàn ClarkeAffiliated withLero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and Statistics, Trinity College Dublin
  • , Vinny CahillAffiliated withLero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and Statistics, Trinity College Dublin

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Abstract

Increasing demands on safety and energy efficiency will require higher levels of automation in transportation systems. This involves dealing with safety-critical distributed coordination. In this paper we demonstrate how a Satisfiability Modulo Theories (SMT) solver can be used to prove correctness of a vehicular coordination problem. We formalise a recent distributed coordination protocol and validate our approach using an intersection collision avoidance (ICA) case study. The system model captures continuous time and space, and an unbounded number of vehicles and messages. The safety of the case study is automatically verified using the Z3 theorem prover.