Analysis of Petri Nets and Transition Systems

This paper describes a stand-alone, no-frills tool supporting the analysis of (labelled) place/transition Petri nets and the synthesis of labelled transition systems into Petri nets. It is implemented as a collection of independent, dedicated algorithms which have been designed to operate modularly, portably, extensibly, and efficiently.Comment: In Proceedings ICE 2015, arXiv:1508.0459

Lock-free atom garbage collection for multithreaded Prolog

The runtime system of dynamic languages such as Prolog or Lisp and their derivatives contain a symbol table, in Prolog often called the atom table. A simple dynamically resizing hash-table used to be an adequate way to implement this table. As Prolog becomes fashionable for 24x7 server processes we need to deal with atom garbage collection and concurrent access to the atom table. Classical lock-based implementations to ensure consistency of the atom table scale poorly and a stop-the-world approach to implement atom garbage collection quickly becomes a bottle-neck, making Prolog unsuitable for soft real-time applications. In this article we describe a novel implementation for the atom table using lock-free techniques where the atom-table remains accessible even during atom garbage collection. Relying only on CAS (Compare And Swap) and not on external libraries, the implementation is straightforward and portable. Under consideration for acceptance in TPLP.Comment: Paper presented at the 32nd International Conference on Logic Programming (ICLP 2016), New York City, USA, 16-21 October 2016, 14 pages, LaTeX, 4 PDF figure

Graph models for reachability analysis of concurrent programs

Reachability analysis is an attractive technique for analysis of concurrent programs because it is simple and relatively straightforward to automate, and can be used in conjunction with model-checking procedures to check for application-specific as well as general properties. Several techniques have been proposed differing mainly on the model used; some of these propose the use of flowgraph based models, some others of Petri nets.This paper addresses the question: What essential difference does it make, if any, what sort of finite-state model we extract from program texts for purposes of reachability analysis? How do they differ in expressive power, decision power, or accuracy? Since each is intended to model synchronization structure while abstracting away other features, one would expect them to be roughly equivalent.We confirm that there is no essential semantic difference between the most well known models proposed in the literature by providing algorithms for translation among these models. This implies that the choice of model rests on other factors, including convenience and efficiency.Since combinatorial explosion is the primary impediment to application of reachability analysis, a particular concern in choosing a model is facilitating divide-and-conquer analysis of large programs. Recently, much interest in finite-state verification systems has centered on algebraic theories of concurrency. Yeh and Young have exploited algebraic structure to decompose reachability analysis based on a flowgraph model. The semantic equivalence of graph and Petri net based models suggests that one ought to be able to apply a similar strategy for decomposing Petri nets. We show this is indeed possible through application of category theory

Modeling and optimum time performance for concurrent processing

The development of a new graph theoretic model for describing the relation between a decomposed algorithm and its execution in a data flow environment is presented. Called ATAMM, the model consists of a set of Petri net marked graphs useful for representing decision-free algorithms having large-grained, computationally complex primitive operations. Performance time measures which determine computing speed and throughput capacity are defined, and the ATAMM model is used to develop lower bounds for these times. A concurrent processing operating strategy for achieving optimum time performance is presented and illustrated by example

Efficient Lock-free Binary Search Trees

In this paper we present a novel algorithm for concurrent lock-free internal binary search trees (BST) and implement a Set abstract data type (ADT) based on that. We show that in the presented lock-free BST algorithm the amortized step complexity of each set operation - {\sc Add}, {\sc Remove} and {\sc Contains} - is $O(H(n) + c)$, where, $H(n)$ is the height of BST with $n$ number of nodes and $c$ is the contention during the execution. Our algorithm adapts to contention measures according to read-write load. If the situation is read-heavy, the operations avoid helping pending concurrent {\sc Remove} operations during traversal, and, adapt to interval contention. However, for write-heavy situations we let an operation help pending {\sc Remove}, even though it is not obstructed, and so adapt to tighter point contention. It uses single-word compare-and-swap (\texttt{CAS}) operations. We show that our algorithm has improved disjoint-access-parallelism compared to similar existing algorithms. We prove that the presented algorithm is linearizable. To the best of our knowledge this is the first algorithm for any concurrent tree data structure in which the modify operations are performed with an additive term of contention measure.Comment: 15 pages, 3 figures, submitted to POD

FLAT2D: Fast localization from approximate transformation into 2D

Many autonomous vehicles require precise localization into a prior map in order to support planning and to leverage semantic information within those maps (e.g. that the right lane is a turn-only lane.) A popular approach in automotive systems is to use infrared intensity maps of the ground surface to localize, making them susceptible to failures when the surface is obscured by snow or when the road is repainted. An emerging alternative is to localize based on the 3D structure around the vehicle; these methods are robust to these types of changes, but the maps are costly both in terms of storage and the computational cost of matching. In this paper, we propose a fast method for localizing based on 3D structure around the vehicle using a 2D representation. This representation retains many of the advantages of "full" matching in 3D, but comes with dramatically lower space and computational requirements. We also introduce a variation of Graph-SLAM tailored to support localization, allowing us to make use of graph-based error-recovery techniques in our localization estimate. Finally, we present real-world localization results for both an indoor mobile robotic platform and an autonomous golf cart, demonstrating that autonomous vehicles do not need full 3D matching to accurately localize in the environment

Black Hole Search with Finite Automata Scattered in a Synchronous Torus

We consider the problem of locating a black hole in synchronous anonymous networks using finite state agents. A black hole is a harmful node in the network that destroys any agent visiting that node without leaving any trace. The objective is to locate the black hole without destroying too many agents. This is difficult to achieve when the agents are initially scattered in the network and are unaware of the location of each other. Previous studies for black hole search used more powerful models where the agents had non-constant memory, were labelled with distinct identifiers and could either write messages on the nodes of the network or mark the edges of the network. In contrast, we solve the problem using a small team of finite-state agents each carrying a constant number of identical tokens that could be placed on the nodes of the network. Thus, all resources used in our algorithms are independent of the network size. We restrict our attention to oriented torus networks and first show that no finite team of finite state agents can solve the problem in such networks, when the tokens are not movable. In case the agents are equipped with movable tokens, we determine lower bounds on the number of agents and tokens required for solving the problem in torus networks of arbitrary size. Further, we present a deterministic solution to the black hole search problem for oriented torus networks, using the minimum number of agents and tokens