A CEGAR-inspired workflow that abstracts a robot environment into coarse voxels and selectively refines them can find safety counterexamples in minutes at resolutions where direct model checking fails.
Formal Verification of Safety Properties of Collaborative Robotic Applications including Variability,
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Structural Abstraction and Selective Refinement for Formal Verification
A CEGAR-inspired workflow that abstracts a robot environment into coarse voxels and selectively refines them can find safety counterexamples in minutes at resolutions where direct model checking fails.