28,919 research outputs found
Barrier Functions for Multiagent-POMDPs with DTL Specifications
Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human operator or a conventional planning method, we propose a technique based on barrier functions to design a minimally interfering safety-shield ensuring satisfaction of high-level specifications in terms of linear distribution temporal logic (LDTL). To this end, we use sufficient and necessary conditions for the invariance of a given set based on discrete-time barrier functions (DTBFs) and formulate sufficient conditions for finite time DTBF to study finite time convergence to a set. We then show that different LDTL mission/safety specifications can be cast as a set of invariance or finite time reachability problems. We demonstrate that the proposed method for safety-shield synthesis can be implemented online by a sequence of one-step greedy algorithms. We demonstrate the efficacy of the proposed method using experiments involving a team of robots
Anonymity and Information Hiding in Multiagent Systems
We provide a framework for reasoning about information-hiding requirements in
multiagent systems and for reasoning about anonymity in particular. Our
framework employs the modal logic of knowledge within the context of the runs
and systems framework, much in the spirit of our earlier work on secrecy
[Halpern and O'Neill 2002]. We give several definitions of anonymity with
respect to agents, actions, and observers in multiagent systems, and we relate
our definitions of anonymity to other definitions of information hiding, such
as secrecy. We also give probabilistic definitions of anonymity that are able
to quantify an observer s uncertainty about the state of the system. Finally,
we relate our definitions of anonymity to other formalizations of anonymity and
information hiding, including definitions of anonymity in the process algebra
CSP and definitions of information hiding using function views.Comment: Replacement. 36 pages. Full version of CSFW '03 paper, submitted to
JCS. Made substantial changes to Section 6; added references throughou
Few-Shot Bayesian Imitation Learning with Logical Program Policies
Humans can learn many novel tasks from a very small number (1--5) of
demonstrations, in stark contrast to the data requirements of nearly tabula
rasa deep learning methods. We propose an expressive class of policies, a
strong but general prior, and a learning algorithm that, together, can learn
interesting policies from very few examples. We represent policies as logical
combinations of programs drawn from a domain-specific language (DSL), define a
prior over policies with a probabilistic grammar, and derive an approximate
Bayesian inference algorithm to learn policies from demonstrations. In
experiments, we study five strategy games played on a 2D grid with one shared
DSL. After a few demonstrations of each game, the inferred policies generalize
to new game instances that differ substantially from the demonstrations. Our
policy learning is 20--1,000x more data efficient than convolutional and fully
convolutional policy learning and many orders of magnitude more computationally
efficient than vanilla program induction. We argue that the proposed method is
an apt choice for tasks that have scarce training data and feature significant,
structured variation between task instances.Comment: AAAI 202
Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation
We present a new temporal logic called Distribution Temporal Logic (DTL)
defined over predicates of belief states and hidden states of partially
observable systems. DTL can express properties involving uncertainty and
likelihood that cannot be described by existing logics. A co-safe formulation
of DTL is defined and algorithmic procedures are given for monitoring
executions of a partially observable Markov decision process with respect to
such formulae. A simulation case study of a rescue robotics application
outlines our approach.Comment: More expanded version of "Distribution Temporal Logic: Combining
Correctness with Quality of Estimation" to appear in IEEE CDC 201
Specifying and analysing reputation systems with coordination languages
Reputation systems are nowadays widely used to support decision making in networked systems. Parties in such systems rate each other and use shared ratings to compute reputation scores that drive their interactions. The existence of reputation systems with remarkable differences calls for formal approaches to their analysis. We present a verification methodology for reputation systems that is based on the use of the coordination language Klaim and related analysis tools. First, we define a parametric Klaim specification of a reputation system that can be instantiated with different reputation models. Then, we consider stochastic specification obtained by considering actions with random (exponentially distributed) duration. The resulting specification enables quantitative analysis of properties of the considered system. Feasibility and effectiveness of our proposal is demonstrated by reporting on the analysis of two reputation models
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