Verification of deadlock free property of high level robot control

This paper describes an efficient verification algorithm for deadlock free property of high level robot control called Task Control Architecture (TCA). TCA is a model of concurrent robot control processes. The verification tool we used is the Symbolic Model Verifier (SMV). Since the SMV is not so efficient for verification of liveness properties such as deadlock free property of many concurrent processes, we first described the deadlock free property by using safety properties that SMV can verify efficiently. In addition, we modify the symbolic model checking algorithm of the SMV so that it can handle many concurrent processes efficiently. Experimental measurements show that we can obtain more than 1000 times speed-up by these methods.