Incremental bounded model checking for embedded software

Program analysis is on the brink of mainstream usage in embedded systems development. Formal verification of behavioural requirements, finding runtime errors and test case generation are some of the most common applications of automated verification tools based on bounded model checking (BMC). Existing industrial tools for embedded software use an off-the-shelf bounded model checker and apply it iteratively to verify the program with an increasing number of unwindings. This approach unnecessarily wastes time repeating work that has already been done and fails to exploit the power of incremental SAT solving. This article reports on the extension of the software model checker CBMC to support incremental BMC and its successful integration with the industrial embedded software verification tool BTC EMBEDDED TESTER. We present an extensive evaluation over large industrial embedded programs, mainly from the automotive industry. We show that incremental BMC cuts runtimes by one order of magnitude in comparison to the standard non-incremental approach, enabling the application of formal verification to large and complex embedded software. We furthermore report promising results on analysing programs with arbitrary loop structure using incremental BMC, demonstrating its applicability and potential to verify general software beyond the embedded domain

Predicate Abstraction with Indexed Predicates

Predicate abstraction provides a powerful tool for verifying properties of infinite-state systems using a combination of a decision procedure for a subset of first-order logic and symbolic methods originally developed for finite-state model checking. We consider models containing first-order state variables, where the system state includes mutable functions and predicates. Such a model can describe systems containing arbitrarily large memories, buffers, and arrays of identical processes. We describe a form of predicate abstraction that constructs a formula over a set of universally quantified variables to describe invariant properties of the first-order state variables. We provide a formal justification of the soundness of our approach and describe how it has been used to verify several hardware and software designs, including a directory-based cache coherence protocol.Comment: 27 pages, 4 figures, 1 table, short version appeared in International Conference on Verification, Model Checking and Abstract Interpretation (VMCAI'04), LNCS 2937, pages = 267--28

Strengthening Model Checking Techniques with Inductive Invariants

This paper describes optimized techniques to efficiently compute and reap benefits from inductive invariants within SAT-based model checking. We address sequential circuit verification, and we consider both equivalences and implications between pairs of nodes in the logic networks. First, we present a very efficient dynamic procedure, based on equivalence classes and incremental SAT, specifically oriented to reduce the set of checked invariants. Then, we show how to effectively integrate the computation of inductive invariants within state-of-the-art SAT-based model checking procedures. Experiments (on more than 600 designs) show the robustness of our approach on verification instances on which stand-alone techniques fai

Circuit Based Quantification: Back to State Set Manipulation within Unbounded Model Checking

In this paper a non-canonical circuit-based state set representation is used to efficiently perform quantifier elimination. The novelty of this approach lies in adapting equivalence checking and logic synthesis techniques, to the goal of compacting circuit based state set representations resulting from existential quantification. The method can be efficiently combined with other verification approaches such as inductive and SAT-based pre-image verifications

k-Step Relative Inductive Generalization

We introduce a new form of SAT-based symbolic model checking. One common idea in SAT-based symbolic model checking is to generate new clauses from states that can lead to property violations. Our previous work suggests applying induction to generalize from such states. While effective on some benchmarks, the main problem with inductive generalization is that not all such states can be inductively generalized at a given time in the analysis, resulting in long searches for generalizable states on some benchmarks. This paper introduces the idea of inductively generalizing states relative to $k$-step over-approximations: a given state is inductively generalized relative to the latest $k$-step over-approximation relative to which the negation of the state is itself inductive. This idea motivates an algorithm that inductively generalizes a given state at the highest level $k$ so far examined, possibly by generating more than one mutually $k$-step relative inductive clause. We present experimental evidence that the algorithm is effective in practice.Comment: 14 page

Generalization Strategies for the Verification of Infinite State Systems

We present a method for the automated verification of temporal properties of infinite state systems. Our verification method is based on the specialization of constraint logic programs (CLP) and works in two phases: (1) in the first phase, a CLP specification of an infinite state system is specialized with respect to the initial state of the system and the temporal property to be verified, and (2) in the second phase, the specialized program is evaluated by using a bottom-up strategy. The effectiveness of the method strongly depends on the generalization strategy which is applied during the program specialization phase. We consider several generalization strategies obtained by combining techniques already known in the field of program analysis and program transformation, and we also introduce some new strategies. Then, through many verification experiments, we evaluate the effectiveness of the generalization strategies we have considered. Finally, we compare the implementation of our specialization-based verification method to other constraint-based model checking tools. The experimental results show that our method is competitive with the methods used by those other tools. To appear in Theory and Practice of Logic Programming (TPLP).Comment: 24 pages, 2 figures, 5 table

A Survey of Symbolic Execution Techniques

Many security and software testing applications require checking whether certain properties of a program hold for any possible usage scenario. For instance, a tool for identifying software vulnerabilities may need to rule out the existence of any backdoor to bypass a program's authentication. One approach would be to test the program using different, possibly random inputs. As the backdoor may only be hit for very specific program workloads, automated exploration of the space of possible inputs is of the essence. Symbolic execution provides an elegant solution to the problem, by systematically exploring many possible execution paths at the same time without necessarily requiring concrete inputs. Rather than taking on fully specified input values, the technique abstractly represents them as symbols, resorting to constraint solvers to construct actual instances that would cause property violations. Symbolic execution has been incubated in dozens of tools developed over the last four decades, leading to major practical breakthroughs in a number of prominent software reliability applications. The goal of this survey is to provide an overview of the main ideas, challenges, and solutions developed in the area, distilling them for a broad audience. The present survey has been accepted for publication at ACM Computing Surveys. If you are considering citing this survey, we would appreciate if you could use the following BibTeX entry: http://goo.gl/Hf5FvcComment: This is the authors pre-print copy. If you are considering citing this survey, we would appreciate if you could use the following BibTeX entry: http://goo.gl/Hf5Fv