  Formal verification techniques such as model checking, are becoming popular
in hardware design. SAT-based model checking techniques such as IC3/PDR, have
gained a significant success in hardware industry. In this paper, we present a
new framework for SAT-based safety model checking, named Complementary
Approximate Reachability (CAR). CAR is based on standard reachability analysis,
but instead of maintaining a single sequence of reachable- state sets, CAR
maintains two sequences of over- and under- approximate reachable-state sets,
checking safety and unsafety at the same time. To construct the two sequences,
CAR uses standard Boolean-reasoning algorithms, based on satisfiability
solving, one to find a satisfying cube of a satisfiable Boolean formula, and
one to provide a minimal unsatisfiable core of an unsatisfiable Boolean
formula. We applied CAR to 548 hardware model-checking instances, and compared
its performance with IC3/PDR. Our results show that CAR is able to solve 42
instances that cannot be solved by IC3/PDR. When evaluated against a portfolio
that includes IC3/PDR and other approaches, CAR is able to solve 21 instances
that the other approaches cannot solve. We conclude that CAR should be
considered as a valuable member of any algorithmic portfolio for safety model
checking.
