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.

中文翻译：

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自主海洋车辆控制算法的演绎验证

由于难以为其复杂的控制器提供安全保证，因此无法在实际应用中使用自动驾驶汽车。这些控制器的基于仿真的测试无法提供足够的安全保证，并且由于自动驾驶汽车的混合特性，形式验证的使用非常具有挑战性。我们正在进行的论文介绍了一种形式验证方法，该方法通过将此类系统（在 GNU/Octave 中）的数值计算与其通过证明助手 (Isabelle) 的混合系统验证相结合来解决这一挑战。为了展示我们方法的有效性，我们使用它来验证具有在多种模式之间切换的控制器的自主海洋车辆的微分不变量。