The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety guarantees, and the use of formal verification is very challenging due to the hybrid nature of the autonomous vehicles. Our work-in-progress paper introduces a formal verification approach that addresses this challenge by integrating the numerical computation of such a system (in GNU/Octave) with its hybrid system verification by means of a proof assistant (Isabelle). To show the effectiveness of our approach, we use it to verify differential invariants of an Autonomous Marine Vehicle with a controller switching between multiple modes.
@article{arxiv.2006.09233,
title = {Towards Deductive Verification of Control Algorithms for Autonomous Marine Vehicles},
author = {Simon Foster and Mario Gleirscher and Radu Calinescu},
journal= {arXiv preprint arXiv:2006.09233},
year = {2025}
}