Formal Verification of the Autosub Autonomous Underwater Vehicle: a Case Study

The present document is a case study describing the formal verification of the Autosub Autonomous Underwater Vehicle (AUV). Section II provides a description of the Autosub AUV multi-agent system model. Section III details the specifications that were formulated to verify various requirements and properties of the Autosub model. Appendix I presents the Stateflow diagrams containing the labelled transition system formulation of the multi-agent model. Appendix II provides a listing of the Autosub multi-agent model formulated in the interpreted system programming language (ISPL) input language of the MCMAS model checker for multi-agent systems. Appendix III details the output listing of the verification property results as provided by the MCMAS model checker.