Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Statecharts: A visual formalism for complex systems
Science of Computer Programming
UPPAAL—a tool suite for automatic verification of real-time systems
Proceedings of the DIMACS/SYCON workshop on Hybrid systems III : verification and control: verification and control
Sequential abstract-state machines capture sequential algorithms
ACM Transactions on Computational Logic (TOCL)
The Theory and Practice of Concurrency
The Theory and Practice of Concurrency
Safety Verification for Automated Platoon Maneuvers: A Case Study
HART '97 Proceedings of the International Workshop on Hybrid and Real-Time Systems
High Integrity Software: The SPARK Approach to Safety and Security
High Integrity Software: The SPARK Approach to Safety and Security
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
Spin model checker, the: primer and reference manual
Spin model checker, the: primer and reference manual
Periodically Controlled Hybrid Systems
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
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
Certifiable Specification and Verification of C Programs
FM '09 Proceedings of the 2nd World Congress on Formal Methods
Formal Verification of Curved Flight Collision Avoidance Maneuvers: A Case Study
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
Adaptive cruise control: hybrid, distributed, and now formally verified
FM'11 Proceedings of the 17th international conference on Formal methods
Mechanical theorem proving in computational geometry
ADG'04 Proceedings of the 5th international conference on Automated Deduction in Geometry
SmartTies --- management of safety-critical developments
ISoLA'12 Proceedings of the 5th international conference on Leveraging Applications of Formal Methods, Verification and Validation: technologies for mastering change - Volume Part I
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When autonomous robots begin to share the human living and working spaces, safety becomes paramount. It is legally required that the safety of such systems is ensured, e.g. by certification according to relevant standards such as IEC 61508. However, such safety considerations are usually not addressed in academic robotics. In this paper we report on one such successful endeavor, which is concerned with designing, implementing, and certifying a collision avoidance safety function for autonomous vehicles and static obstacles. The safety function calculates a safety zone for the vehicle, depending on its current motion, which is as large as required but as small as feasible, thus ensuring safety against collision with static obstacles. We outline the algorithm which was specifically designed with safety in mind, and present our verification methodology which is based on formal proof and verification using the theorem prover Isabelle. The implementation and our methodology have been certified for use in applications up to SIL驴3 of IEC 61508 by a certification authority (T脺V S眉d Rail GmbH, Germany). Throughout, issues we recognized as being important for a successful application of formal methods in robotics are highlighted. Moreover, we argue that formal analysis deepens the understanding of the algorithm, and hence is valuable even outside the safety context.