Verification of embedded system by a method for detecting defects in source codes using model checking

We have proposed a method based on model checking for detecting hard-to-discover defects in enterprise systems. We apply our method to embedded system development to easily discover some defects caused by input/output data of the hardware which are influenced by the external environment before the software is integrated into the hardware. This paper discuss the effectiveness of our method using a case study to develop a line tracing robot.