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Journal of Applied Mathematics
Volume 2014, Article ID 327465, 10 pages
Research Article

A Case Study on Formal Analysis of an Automated Guided Vehicle System

1College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
2University of Tennessee, Knoxville, TN, USA
3Synopsys Inc., Mountain View, CA, USA
4Beijing Engineering Research Center of High Reliable Embedded System, College of Information Engineering, Capital Normal University, Beijing, China

Received 6 March 2014; Accepted 30 March 2014; Published 4 May 2014

Academic Editor: Xiaoyu Song

Copyright © 2014 Jie Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers a hybrid I/O automata model for an automated guided vehicle (AGV) system. A set of key properties of an AGV system are characterized for the correctness of the system. An abstract model is constructed from the hybrid automata model to simplify the proof of the constraints. The two models are equivalent in terms of bisimulation relation. We derive the constraints to ensure the correctness of the properties. We validate the system by analyzing the parameters of the constraints of the AGV system.