47,692 research outputs found
Equilibria-based Probabilistic Model Checking for Concurrent Stochastic Games
Probabilistic model checking for stochastic games enables formal verification
of systems that comprise competing or collaborating entities operating in a
stochastic environment. Despite good progress in the area, existing approaches
focus on zero-sum goals and cannot reason about scenarios where entities are
endowed with different objectives. In this paper, we propose probabilistic
model checking techniques for concurrent stochastic games based on Nash
equilibria. We extend the temporal logic rPATL (probabilistic alternating-time
temporal logic with rewards) to allow reasoning about players with distinct
quantitative goals, which capture either the probability of an event occurring
or a reward measure. We present algorithms to synthesise strategies that are
subgame perfect social welfare optimal Nash equilibria, i.e., where there is no
incentive for any players to unilaterally change their strategy in any state of
the game, whilst the combined probabilities or rewards are maximised. We
implement our techniques in the PRISM-games tool and apply them to several case
studies, including network protocols and robot navigation, showing the benefits
compared to existing approaches
Reasoning About Strategies: On the Model-Checking Problem
In open systems verification, to formally check for reliability, one needs an
appropriate formalism to model the interaction between agents and express the
correctness of the system no matter how the environment behaves. An important
contribution in this context is given by modal logics for strategic ability, in
the setting of multi-agent games, such as ATL, ATL\star, and the like.
Recently, Chatterjee, Henzinger, and Piterman introduced Strategy Logic, which
we denote here by CHP-SL, with the aim of getting a powerful framework for
reasoning explicitly about strategies. CHP-SL is obtained by using first-order
quantifications over strategies and has been investigated in the very specific
setting of two-agents turned-based games, where a non-elementary model-checking
algorithm has been provided. While CHP-SL is a very expressive logic, we claim
that it does not fully capture the strategic aspects of multi-agent systems. In
this paper, we introduce and study a more general strategy logic, denoted SL,
for reasoning about strategies in multi-agent concurrent games. We prove that
SL includes CHP-SL, while maintaining a decidable model-checking problem. In
particular, the algorithm we propose is computationally not harder than the
best one known for CHP-SL. Moreover, we prove that such a problem for SL is
NonElementarySpace-hard. This negative result has spurred us to investigate
here syntactic fragments of SL, strictly subsuming ATL\star, with the hope of
obtaining an elementary model-checking problem. Among the others, we study the
sublogics SL[NG], SL[BG], and SL[1G]. They encompass formulas in a special
prenex normal form having, respectively, nested temporal goals, Boolean
combinations of goals and, a single goal at a time. About these logics, we
prove that the model-checking problem for SL[1G] is 2ExpTime-complete, thus not
harder than the one for ATL\star
Quadrotor control for persistent surveillance of dynamic environments
Thesis (M.S.)--Boston UniversityThe last decade has witnessed many advances in the field of small scale unmanned aerial vehicles (UAVs). In particular, the quadrotor has attracted significant attention. Due to its ability to perform vertical takeoff and landing, and to operate in cluttered spaces, the quadrotor is utilized in numerous practical applications, such as reconnaissance and information gathering in unsafe or otherwise unreachable environments.
This work considers the application of aerial surveillance over a city-like environment. The thesis presents a framework for automatic deployment of quadrotors to monitor and react to dynamically changing events. The framework has a hierarchical structure. At the top level, the UAVs perform complex behaviors that satisfy high- level mission specifications. At the bottom level, low-level controllers drive actuators on vehicles to perform the desired maneuvers.
In parallel with the development of controllers, this work covers the implementation of the system into an experimental testbed. The testbed emulates a city using physical objects to represent static features and projectors to display dynamic events occurring on the ground as seen by an aerial vehicle. The experimental platform features a motion capture system that provides position data for UAVs and physical features of the environment, allowing for precise, closed-loop control of the vehicles. Experimental runs in the testbed are used to validate the effectiveness of the developed control strategies
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