Linear Encodings of Bounded LTL Model Checking

We consider the problem of bounded model checking (BMC) for linear temporal logic (LTL). We present several efficient encodings that have size linear in the bound. Furthermore, we show how the encodings can be extended to LTL with past operators (PLTL). The generalised encoding is still of linear size, but cannot detect minimal length counterexamples. By using the virtual unrolling technique minimal length counterexamples can be captured, however, the size of the encoding is quadratic in the specification. We also extend virtual unrolling to Buchi automata, enabling them to accept minimal length counterexamples. Our BMC encodings can be made incremental in order to benefit from incremental SAT technology. With fairly small modifications the incremental encoding can be further enhanced with a termination check, allowing us to prove properties with BMC. Experiments clearly show that our new encodings improve performance of BMC considerably, particularly in the case of the incremental encoding, and that they are very competitive for finding bugs. An analysis of the liveness-to-safety transformation reveals many similarities to the BMC encodings in this paper. Using the liveness-to-safety translation with BDD-based invariant checking results in an efficient method to find shortest counterexamples that complements the BMC-based approach.Comment: Final version for Logical Methods in Computer Science CAV 2005 special issu

Automata-theoretic and bounded model checking for linear temporal logic

In this work we study methods for model checking the temporal logic LTL. The focus is on the automata-theoretic approach to model checking and bounded model checking. We begin by examining automata-theoretic methods to model check LTL safety properties. The model checking problem can be reduced to checking whether the language of a finite state automaton on finite words is empty. We describe an efficient algorithm for generating small finite state automata for so called non-pathological safety properties. The presented implementation is the first tool able to decide whether a formula is non-pathological. The experimental results show that treating safety properties can benefit model checking at very little cost. In addition, we find supporting evidence for the view that minimising the automaton representing the property does not always lead to a small product state space. A deterministic property automaton can result in a smaller product state space even though it might have a larger number states. Next we investigate modular analysis. Modular analysis is a state space reduction method for modular Petri nets. The method can be used to construct a reduced state space called the synchronisation graph. We devise an on-the-fly automata-theoretic method for model checking the behaviour of a modular Petri net from the synchronisation graph. The solution is based on reducing the model checking problem to an instance of verification with testers. We analyse the tester verification problem and present an efficient on-the-fly algorithm, the first complete solution to tester verification problem, based on generalised nested depth-first search. We have also studied propositional encodings for bounded model checking LTL. A new simple linear sized encoding is developed and experimentally evaluated. The implementation in the NuSMV2 model checker is competitive with previously presented encodings. We show how to generalise the LTL encoding to a more succint logic: LTL with past operators. The generalised encoding compares favourably with previous encodings for LTL with past operators. Links between bounded model checking and the automata-theoretic approach are also explored.reviewe

Temporal Logic Encodings for SAT-based Bounded Model Checking

Since its introduction in 1999, bounded model checking (BMC) has quickly become a serious and indispensable tool for the formal verification of hardware designs and, more recently, software. By leveraging propositional satisfiability (SAT) solvers, BMC overcomes some of the shortcomings of more conventional model checking methods. In model checking we automatically verify whether a state transition system (STS) describing a design has some property, commonly expressed in linear temporal logic (LTL). BMC is the restriction to only checking the looping and non-looping runs of the system that have bounded descriptions. The conventional BMC approach is to translate the STS runs and LTL formulae into propositional logic and then conjunctive normal form (CNF). This CNF expression is then checked by a SAT solver. In this thesis we study the effect on the performance of BMC of changing the translation to propositional logic. One novelty is to use a normal form for LTL which originates in resolution theorem provers. We introduce the normal form conversion early on in the encoding process and examine the simplifications that it brings to the generation of propositional logic. We further enhance the encoding by specialising the normal form to take advantage of the types of runs peculiar to BMC. We also improve the conversion from propositional logic to CNF. We investigate the behaviour of the new encodings by a series of detailed experimental comparisons using both hand-crafted and industrial benchmarks from a variety of sources. These reveal that the new normal form based encodings can reduce the solving time by a half in most cases, and up to an order of magnitude in some cases, the size of the improvement corresponding to the complexity of the LTL expression. We also compare our method to the popular automata-based methods for model checking and BMC

Counterexample-Preserving Reduction for Symbolic Model Checking

The cost of LTL model checking is highly sensitive to the length of the formula under verification. We observe that, under some specific conditions, the input LTL formula can be reduced to an easier-to-handle one before model checking. In our reduction, these two formulae need not to be logically equivalent, but they share the same counterexample set w.r.t the model. In the case that the model is symbolically represented, the condition enabling such reduction can be detected with a lightweight effort (e.g., with SAT-solving). In this paper, we tentatively name such technique "Counterexample-Preserving Reduction" (CePRe for short), and finally the proposed technquie is experimentally evaluated by adapting NuSMV

Model Predictive Control for Signal Temporal Logic Specification

We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these systems, including safety, response and bounded liveness. For synthesis, we encode STL specifications as mixed integer-linear constraints on the system variables in the optimization problem at each step of a receding horizon control framework. We prove correctness of our algorithms, and present experimental results for controller synthesis for building energy and climate control

Bounded Reachability for Temporal Logic over Constraint Systems

We present CLTLB(D), an extension of PLTLB (PLTL with both past and future operators) augmented with atomic formulae built over a constraint system D. Even for decidable constraint systems, satisfiability and Model Checking problem of such logic can be undecidable. We introduce suitable restrictions and assumptions that are shown to make the satisfiability problem for the extended logic decidable. Moreover for a large class of constraint systems we propose an encoding that realize an effective decision procedure for the Bounded Reachability problem

SMT-based Verification of LTL Specifications with Integer Constraints and its Application to Runtime Checking of Service Substitutability

An important problem that arises during the execution of service-based applications concerns the ability to determine whether a running service can be substituted with one with a different interface, for example if the former is no longer available. Standard Bounded Model Checking techniques can be used to perform this check, but they must be able to provide answers very quickly, lest the check hampers the operativeness of the application, instead of aiding it. The problem becomes even more complex when conversational services are considered, i.e., services that expose operations that have Input/Output data dependencies among them. In this paper we introduce a formal verification technique for an extension of Linear Temporal Logic that allows users to include in formulae constraints on integer variables. This technique applied to the substitutability problem for conversational services is shown to be considerably faster and with smaller memory footprint than existing ones

A Metric Encoding for Bounded Model Checking (extended version)

In Bounded Model Checking both the system model and the checked property are translated into a Boolean formula to be analyzed by a SAT-solver. We introduce a new encoding technique which is particularly optimized for managing quantitative future and past metric temporal operators, typically found in properties of hard real time systems. The encoding is simple and intuitive in principle, but it is made more complex by the presence, typical of the Bounded Model Checking technique, of backward and forward loops used to represent an ultimately periodic infinite domain by a finite structure. We report and comment on the new encoding technique and on an extensive set of experiments carried out to assess its feasibility and effectiveness