A Formal Approach to Autonomous Vehicle Coordination

  • Mikael Asplund
  • Atif Manzoor
  • Mélanie Bouroche
  • Siobhàn Clarke
  • Vinny Cahill
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7436)


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.


Collision Avoidance Formal Approach Reachable State Target Speed Hybrid Automaton 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Mikael Asplund
    • 1
  • Atif Manzoor
    • 1
  • Mélanie Bouroche
    • 1
  • Siobhàn Clarke
    • 1
  • Vinny Cahill
    • 1
  1. 1.Lero - The Irish Software Engineering Research Centre, Distributed Systems Group, School of Computer Science and StatisticsTrinity College DublinIreland

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