Fast Second-order Cone Programming for Safe Mission Planning

This paper considers the problem of safe mission planning of dynamic systems operating under uncertain environments. Much of the prior work on achieving robust and safe control requires solving second-order cone programs (SOCP). Unfortunately, existing general purpose SOCP methods are often infeasible for real-time robotic tasks due to high memory and computational requirements imposed by existing general optimization methods. The key contribution of this paper is a fast and memory-efficient algorithm for SOCP that would enable robust and safe mission planning on-board robots in real-time. Our algorithm does not have any external dependency, can efficiently utilize warm start provided in safe planning settings, and in fact leads to significant speed up over standard optimization packages (like SDPT3) for even standard SOCP problems. For example, for a standard quadrotor problem, our method leads to speedup of 1000x over SDPT3 without any deterioration in the solution quality. Our method is based on two insights: a) SOCPs can be interpreted as optimizing a function over a polytope with infinite sides, b) a linear function can be efficiently optimized over this polytope. We combine the above observations with a novel utilization of Wolfe's algorithm to obtain an efficient optimization method that can be easily implemented on small embedded devices. In addition to the above mentioned algorithm, we also design a two-level sensing method based on Gaussian Process for complex obstacles with non-linear boundaries such as a cylinder

Hiding variables when decomposing specifications into GR(1) contracts

We propose a method for eliminating variables from component specifications during the decomposition of GR(1) properties into contracts. The variables that can be eliminated are identified by parameterizing the communication architecture to investigate the dependence of realizability on the availability of information. We prove that the selected variables can be hidden from other components, while still expressing the resulting specification as a game with full information with respect to the remaining variables. The values of other variables need not be known all the time, so we hide them for part of the time, thus reducing the amount of information that needs to be communicated between components. We improve on our previous results on algorithmic decomposition of GR(1) properties, and prove existence of decompositions in the full information case. We use semantic methods of computation based on binary decision diagrams. To recover the constructed specifications so that humans can read them, we implement exact symbolic minimal covering over the lattice of integer orthotopes, thus deriving minimal formulae in disjunctive normal form over integer variable intervals

A Genetic Programming Framework for Two Data Mining Tasks: Classification and Generalized Rule Induction

This paper proposes a genetic programming (GP) framework for two major data mining tasks, namely classification and generalized rule induction. The framework emphasizes the integration between a GP algorithm and relational database systems. In particular, the fitness of individuals is computed by submitting SQL queries to a (parallel) database server. Some advantages of this integration from a data mining viewpoint are scalability, data-privacy control and automatic parallelization

Quantum Non-Objectivity from Performativity of Quantum Phenomena

We analyze the logical foundations of quantum mechanics (QM) by stressing non-objectivity of quantum observables which is a consequence of the absence of logical atoms in QM. We argue that the matter of quantum non-objectivity is that, on the one hand, the formalism of QM constructed as a mathematical theory is self-consistent, but, on the other hand, quantum phenomena as results of experimenter's performances are not self-consistent. This self-inconsistency is an effect of that the language of QM differs much from the language of human performances. The first is the language of a mathematical theory which uses some Aristotelian and Russellian assumptions (e.g., the assumption that there are logical atoms). The second language consists of performative propositions which are self-inconsistent only from the viewpoint of conventional mathematical theory, but they satisfy another logic which is non-Aristotelian. Hence, the representation of quantum reality in linguistic terms may be different: from a mathematical theory to a logic of performative propositions. To solve quantum self-inconsistency, we apply the formalism of non-classical self-referent logics

Design automation with the characteristics properties model and the property driven design for redesign

This paper presents a framework consisting of a mathematical model and an algorithm for representation, analysis and exploration of the design space in redesign problems. The framework develops and extends the existing formalism of the Characteristics Properties Model (CPM) and Property Driven Design (PDD). A platform independent quantitative model based on formal log-ic is presented to map the characteristics and properties, as well as the relations and dependencies between them, along with solution conditions. The model is based on generalization of existing mathematical design models and is support-ed by the development of an algorithm enabling property driven design. The re-sulting framework offers a rich and flexible syntax and vocabulary along with a mathematical and computational tool applicable to mechanical product design

The Logic of Counting Query Answers

We consider the problem of counting the number of answers to a first-order formula on a finite structure. We present and study an extension of first-order logic in which algorithms for this counting problem can be naturally and conveniently expressed, in senses that are made precise and that are motivated by the wish to understand tractable cases of the counting problem