An overview of JML tools and applications
International Journal on Software Tools for Technology Transfer (STTT) - Special section on formal methods for industrial critical systems
Formal Verification of Floating-Point Programs
ARITH '07 Proceedings of the 18th IEEE Symposium on Computer Arithmetic
A Unified Approach to Abstract Interpretation, Formal Verification and Testing of C/C++ Modules
Proceedings of the 5th international colloquium on Theoretical Aspects of Computing
Formal Verification of C Systems Code
Journal of Automated Reasoning
Viewpoint: Retrospective: an axiomatic basis for computer programming
Communications of the ACM - A View of Parallel Computing
VCC: A Practical System for Verifying Concurrent C
TPHOLs '09 Proceedings of the 22nd International Conference on Theorem Proving in Higher Order Logics
The Importance of Being Formal
Electronic Notes in Theoretical Computer Science (ENTCS)
Requirements for Safe Robots: Measurements, Analysis and New Insights
International Journal of Robotics Research
Certifiable Specification and Verification of C Programs
FM '09 Proceedings of the 2nd World Congress on Formal Methods
Isabelle/HOL: a proof assistant for higher-order logic
Isabelle/HOL: a proof assistant for higher-order logic
Mechanical theorem proving in computational geometry
ADG'04 Proceedings of the 5th international conference on Automated Deduction in Geometry
Fault-based generation of test cases from UML-Models: approach and some experiences
SAFECOMP'11 Proceedings of the 30th international conference on Computer safety, reliability, and security
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Formal verification efforts in the area of robotics are still comparatively scarce. In this paper we report on our experiences with one such effort, which was concerned with designing, implementing and certifying a safety function for autonomous vehicles and robots. We outline the algorithm which was specifically designed with safety through formal verification in mind, and present our verification methodology, which is based on formal proof and verification using the theorem prover Isabelle. The necessary normative measures that are covered are discussed. The algorithm and our methodology have been certified for use in applications up to SIL 3 of IEC61508-3 by a certification authority. Throughout, issues we recognised as being important for a successful application of formal methods in the domain at hand are highlighted. These pertain to the development process, the abstraction level at which specifications should be formulated, and the interplay between simulation and verification, among others.