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.
Approaches to cyber-physical (model) model- checking,
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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.