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Published in:
2012 | OriginalPaper | Chapter
A Formal Approach to Autonomous Vehicle Coordination
Authors : Mikael Asplund, Atif Manzoor, Mélanie Bouroche, Siobhàn Clarke, Vinny Cahill
Published in: FM 2012: Formal Methods
Publisher: Springer Berlin Heidelberg
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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.