  We presentSceneChecker, a tool for verifying scenarios involving vehicles
executing complex plans in large cluttered workspaces. SceneChecker converts
the scenario verification problem to a standard hybrid system verification
problem, and solves it effectively by exploiting structural properties in the
plan and the vehicle dynamics. SceneChecker uses symmetry abstractions, a novel
refinement algorithm, and importantly, is built to boost the performance of any
existing reachability analysis tool as a plug-in subroutine. We evaluated
SceneChecker on several scenarios involving ground and aerial vehicles with
nonlinear dynamics and neural network controllers, employing different kinds of
symmetries, using different reachability subroutines, and following plans with
hundreds of way-points in complex workspaces. Compared to two leading tools,
DryVR and Flow*, SceneChecker shows 20x speedup in verification time, even
while using those very tools as reachability subroutines.
