Formal Verification is one of the crucial method to detect possible weaknesses and vulnerabilities at an early stage. This paper reviews formal methods for an extensive variety of protocols used in the IoT environment. It gives detailed descriptions of the considered properties and the applied methods. An in-depth literature review shows that four application fields can be distinguished, namely: (1) functional checks, (2) checks on security properties, (3) suggestions for enhanced schemes including a priori security property checks and (4) implementation checks of protocols. This paper further offers a comprehensive overview of the covered security properties and of commonly used tools for protocols in the field. Additionally, an extensive description and overview of commonly used model checkers is given and open issues and challenges in the IoT field are addressed.

正式验证是在早期发现可能的弱点和漏洞的关键方法之一。本文回顾了物联网环境中使用的各种协议的正式方法。它给出了所考虑的属性和应用方法的详细说明。深入的文献综述显示，可以区分四个应用程序领域，即：（1）功能检查，（2）安全属性检查，（3）包括先验安全属性检查在内的增强方案建议和（4）实现检查协议。本文进一步概述了所涵盖的安全属性以及该领域中常用的协议工具。另外，