A framework for Satisfiability Modulo Theories

Software product lines are able to describe multiple products sharing a common base of features and are commonly described as feature models. For complex software product lines, automatic analyses are required to ensure validity and to improve the interactive configuration process. Modern SAT solvers are vital components for the validation process of feature models. The increasing variability of software product lines implies the need to use more expressive solvers like SMT solvers. To assist the development of feature modeling tools, we compare SAT and SMT solvers for the automated analysis of feature models. During this thesis, we create an abstract data type to formally define analyses for feature model defects and their explanations. The result shows that SAT solvers are more efficient at detecting the defects, while SMT solvers can find explanations for them multiple times faster. Feature models can be further expanded by attaching attributes to features. Such attributes may contain a numerical value. Additionally, one attribute can be defined for multiple features. In this thesis, we aim to support the interactive configuration process, by providing the range of the sum of values for an attribute. Such ranges depend on the remaining choices in a configuration of the product line. We provide an exact computation using SMT and an approximation using a heuristic. The evaluation results show that an SMT solver is not suitable for supporting interactive configuration. However, the approximated ranges of the provided heuristic were very close to the exact ones.

The topic of this thesis is the development of SAT-based techniques and tools for solving industrial combinatorial problems. First, it describes the architecture of state-of-the-art SAT and SMT Solvers based on the classical DPLL procedure. These systems can be used as black boxes for solving combinatorial problems. However, sometimes we can increase their efficiency with slight modifications of the basic algorithm. Therefore, the study and development of techniques for adjusting SAT Solvers to specific combinatorial problems is the first goal of this thesis. Namely, SAT Solvers can only deal with propositional logic. For solving general combinatorial problems, two different approaches are possible: - Reducing the complex constraints into propositional clauses. - Enriching the SAT Solver language. The first approach corresponds to encoding the constraint into SAT. The second one corresponds to using propagators, the basis for SMT Solvers. Regarding the first approach, in this document we improve the encoding of two of the most important combinatorial constraints: cardinality constraints and pseudo-Boolean constraints. After that, we present a new mixed approach, called lazy decomposition, which combines the advantages of encodings and propagators. The other part of the thesis uses these theoretical improvements in industrial combinatorial problems. We give a method for efficiently scheduling some professional sport leagues with SAT. The results are promising and show that a SAT approach is valid for these problems. However, the chaotical behavior of CDCL-based SAT Solvers due to VSIDS heuristics makes it difficult to obtain a similar solution for two similar problems. This may be inconvenient in real-world problems, since a user expects similar solutions when it makes slight modifications to the problem specification. In order to overcome this limitation, we have studied and solved the close solution problem, i.e., the problem of quickly finding a close solution when a similar problem is considered.

SAT solving has gained tremendous interest. On the practical side there have been considerable performance improvements, due to new highly efficient algorithms, new heuristics, and optimized data structures. There are new applications and reformulations of important classical problems, mainly in the context of formal methods, where SAT solving is also applied successfully in an industrial setting. These applications range from equivalence checking, configuration, over model checking to test case generation. SAT is becoming one of the most important core technology in all these areas. Many applications actually use Satisfiability Modulo Theory (SMT), which can be seen as an extension of SAT solving. SMT has it roots in automated theorem proving. But it heavily relies on SAT technology. We discuss some key technologies in practical SAT solving, e.g. how to write a fast solver, some aspects in lifting propositional SAT technology to richer domains, how competitions can help to improve the state-of-the-art and finally touch on applications in model checking, hardware and software verification.

In this paper we present a new progressive cooperating simplifier for deciding the satisfiability of a quantifier-free formula in the first-order theory of integers involving combinations of sublogics, referred to as Satisfiability Modulo Theories (SMT). Our approach, given an SMT problem, replaces each non-propositional theory atom with a Boolean indicator variable yielding a purely propositional formula to be decided by a SAT solver. Starting with the most abstract representation (the Boolean formula), the solver gradually integrates more complex theory solvers into the working decision procedure. Additionally, we propose a method to simplify “expensive” atoms into suitable conjunctions of “cheaper” theory atoms when conflicts occur. This process considerably increases the efficiency of the overall procedure by reducing the number of calls to the slower theory solvers. This is made possible by adopting our novel inter-logic implication framework, as proposed in this paper. We have implemented these methods in our Ario SMT solver by combining three different theory solvers within a DPLL-style SAT solver: a Unit-Two-Variable-Per-Inequality (UTVPI) solver, an integer linear programming (ILP) solver, and a solver for systems of equalities with uninterpreted functions. The efficiencies of our proposed algorithms are demonstrated and exhaustively investigated on a wide range of benchmarks in hardware and software verification domain. Empirical results are also presented showing the advantages/limitations of our methods over other modern techniques for solving these SMT problems.

We present our extension of ACL2 with Satisfiability Modulo Theories (SMT) solvers using ACL2's trusted clause processor mechanism. We are particularly interested in the verification of physical systems including Analog and Mixed-Signal (AMS) designs. ACL2 offers strong induction abilities for reasoning about sequences and SMT complements deduction methods like ACL2 with fast nonlinear arithmetic solving procedures. While SAT solvers have been integrated into ACL2 in previous work, SMT methods raise new issues because of their support for a broader range of domains including real numbers and uninterpreted functions. This paper presents Smtlink, our clause processor for integrating SMT solvers into ACL2. We describe key design and implementation issues and describe our experience with its use.

The Boolean Satisfiability Problem (SAT) is well known in computational complexity, representing the first decision problem to be proved NP-complete. SAT is also often the subject of work in proof complexity. Besides its theoretical interest, SAT finds a wide range of practical applications. Moreover, SAT solvers have been the subject of remarkable efficiency improvements since the mid-1990s, motivating their widespread use in many practical applications including Bounded and Unbounded Model Checking. The success of SAT solvers has also motivated the development of algorithms for natural extensions of SAT, including Quantified Boolean Formulas (QBF), Pseudo-Boolean constraints (PB), Maximum Satisfiability (MaxSAT) and Satisfiability Modulo Theories (SMT) which also see application in the model-checking context. This chapter first covers the organization of modern conflict-driven clause learning (CDCL) SAT solvers, which are used in the vast majority of practical applications of SAT. It then reviews the techniques shown to be effective in modern SAT solvers.

Solvers for SAT Modulo Theories (SMT) can nowadays handle large industrial (e.g., formal hardware and software verification) problems over theories such as the integers, arrays, or equality. Here we show that SMT approaches can also efficiently solve problems that, at first sight, do not have a typical SMT flavor. In particular, here we deal with SAT and SMT problems where models M are sought such that a given cost function f(M) is minimized. For this purpose, we introduce a variant of SMT where the theory T becomes progressively stronger, and prove it correct using the Abstract DPLL Modulo Theories framework. We discuss two different examples of applications of this SMT variant: weighted Max-SAT and weighted Max-SMT. We show how, with relatively little effort, one can obtain a competitive system that, in the case of weighted Max-SMT in the theory of Difference Logic, can even handle well-known hard radio frequency assignment problems without any tailored heuristics. These results seem to indicate that Max-SAT/SMT techniques can already be used for realistic applications.

SMT solving is often a major source of cost in a broad range of techniques such as symbolic program analysis. Thus, speeding up SMT solving is still an urgent requirement. A dominant approach, which is known as eager SMT solving, is to reduce a first-order formula to a pure Boolean formula, which is handed to an expensive SAT solver to determine the satisfiability. We observe that the SAT solver can utilize the knowledge in the first-order formula to boost its solving efficiency. Unfortunately, despite much progress, it is still not clear how to make use of the knowledge in an eager SMT solver. This paper addresses the problem by introducing a new and fast method, which utilizes the interval and data-dependence information learned from the first-order formulas. We have implemented the approach as a tool called Trident and evaluated it on three symbolic analyzers (Angr, Qsym, and Pinpoint). The experimental results, based on seven million SMT solving instances generated for thirty real-world software systems, show that Trident significantly reduces the total solving time from 2.9X to 7.9X over three state-of-the-art SMT solvers (Z3, CVC4, and Boolector), without sacrificing the number of solved instances. We also demonstrate that Trident achieves end-to-end speedups for three program analysis clients by 1.9X, 1.6X, and 2.4X, respectively.

We describe an attempt to unify search-based and compilation-based approaches to multi-agent path finding (MAPF) through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph to given goal vertices so that they do not collide. We rephrase Conflict-Based Search (CBS), one of the state-of-the-art algorithms for optimal MAPF solving, in the terms of SMT. This idea combines SAT-based solving known from MDD-SAT, a SAT-based optimal MAPF solver, at the low level with conflict elimination of CBS at the high level. Where the standard CBS branches the search after a conflict occurs, we refine the propositional model with a disjunctive constraint instead. Our novel algorithm called SMT-CBS hence does not branch at the high-level but incrementally extends the propositional model that is consulted with the SAT solver at each iteration. We experimentally compare SMT-CBS with CBS and MDD-SAT.

Due to high computational costs of formal verification on pure Boolean level, proof techniques on the word level, like Satisfiability Modulo Theories (SMT), were proposed. Verification methods originally based on Boolean satisfiability (SAT) can directly benefit from this progress. In this work we present the word level framework WoLFram that enables the development of applications for formal verification of systems independent of the underlying proof technique. The framework is partitioned into an application layer, a core engine and a back-end layer. A wide range of applications is implemented, e.g.~equivalence and property checking including algorithms for coverage/property analysis, debugging and robustness checking. The back-end supports Boolean as well as word level techniques, like SMT and Constraint Solving (CSP). This makes WoLFram a stable backbone for the development and quick evaluation of emerging verification techniques.

This paper describes a method for combining “off-the-shelf” SAT and constraint solvers for building an efficient Satisfiability Modulo Theories (SMT) solver for a wide range of theories. Our method follows the abstraction/refinement approach to simplify the implementation of custom SMT solvers. The expected performance penalty by not using an interweaved combination of SAT and theory solvers is reduced by generalising a Boolean solution of an SMT problem first via assigning don’t care to as many variables as possible. We then use the generalised solution to determine a thereby smaller constraint set to be handed over to the constraint solver for a background theory. We show that for many benchmarks and real-world problems, this optimisation results in considerably smaller and less complex constraint problems. The presented approach is particularly useful for assembling a practically viable SMT solver quickly, when neither a suitable SMT solver nor a corresponding incremental theory solver is available. We have implemented our approach in the ABsolver framework and applied the resulting solver successfully to an industrial case-study: the verification problems arising in verifying an electronic car steering control system impose non-linear arithmetic constraints, which do not fall into the domain of any other available solver.

Satisfiability Modulo Theories (SMT) refers to the problem of deciding the satisfiability of a formula with respect to certain background first-order theories. In this article, we focus on Satisfiablity Modulo Integer Arithmetic, which is referred to as SMT(IA), including both linear and non-linear integer arithmetic theories. Dominant approaches to SMT rely on calling a CDCL-based SAT solver, either in a lazy or eager flavour. Local search, a competitive approach to solving combinatorial problems including SAT, however, has not been well studied for SMT. We develop the first local-search algorithm for SMT(IA) by directly operating on variables, breaking through the traditional framework. We propose a local-search framework by considering the distinctions between Boolean and integer variables. Moreover, we design a novel operator and scoring functions tailored for integer arithmetic, as well as a two-level operation selection heuristic. Putting these together, we develop a local search SMT(IA) solver called LocalSMT. Experiments are carried out to evaluate LocalSMT on benchmark sets from SMT-LIB. The results show that LocalSMT is competitive and complementary with state-of-the-art SMT solvers, and performs particularly well on those formulae with only integer variables. A simple sequential portfolio with Z3 improves the state-of-the-art on satisfiable benchmark sets from SMT-LIB.

Finding small unsatisfiable cores for SAT problems has recently received a lot of interest, mostly for its applications in formal verification. Surprisingly, the same problem in the context of SAT Modulo Theories (SMT) has instead received very little attention in the literature; in particular, we are not aware of any work aiming at producing small unsatisfiable cores in SMT. The purpose of this paper is to start filling the gap in this area, by proposing a novel approach for computing small unsat cores in SMT. The main idea is to combine an SMT solver with an external propositional core extractor: the SMT solver produces the theory lemmas found during the search; the core extractor is then called on the boolean abstraction of the original SMT problem and of the theory lemmas. This results in an unsatisfiable core for the original SMT problem, once the remaining theory lemmas have been removed. The approach has several advantages: it is extremely simple to implement and to update, and it can be interfaced with every propositional core extractor in a plug-and-play way, so that to benefit for free of all unsatcore reduction techniques which have been or will be made available.

Combining decision procedures by (model-)equality propagation

This paper introduces a new technique for reasoning with quantifiers and theories. Traditionally, first-order theorem provers (ATPs) are well suited to reasoning with first-order problems containing many quantifiers and satisfiability modulo theories (SMT) solvers are well suited to reasoning with first-order problems in ground theories such as arithmetic. A recent development in first-order theorem proving has been the AVATAR architecture which uses a SAT solver to guide proof search based on a propositional abstraction of the first-order clause space. The approach turns a single proof search into a sequence of proof searches on (much) smaller sub-problems. This work extends the AVATAR approach to use a SMT solver in place of the SAT solver, with the effect that the first-order solver only needs to consider ground-theory-consistent sub-problems. The new architecture has been implemented using the Vampire theorem prover and Z3 SMT solver. Our experimental results, and the results of recent competitions, show that such a combination can be highly effective.