Model Car Security

Goal: an autonomous model car must follow a painted track. If ever it loses the track, it can go on for a little while to retrieve it at a limited speed. However, if the track is still lost after a few seconds and/or if the speed is too high, the security controller must stop the car. In this way, the model car cannot crash in a wall if the track is away enough from the wall.
  • Fortran Encoding, with resulting transformers and preconditions

  • Fast Encoding, with ...