99,086 research outputs found

    Synthesizing a Lego Forklift Controller in GR(1): A Case Study

    Full text link
    Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial symbolic algorithm. We conducted a case study to learn about the challenges that software engineers may face when using GR(1) synthesis for the development of a reactive robotic system. In the case study we developed two variants of a forklift controller, deployed on a Lego robot. The case study employs LTL specification patterns as an extension of the GR(1) specification language, an examination of two specification variants for execution scheduling, traceability from the synthesized controller to constraints in the specification, and generated counter strategies to support understanding reasons for unrealizability. We present the specifications we developed, our observations, and challenges faced during the case study.Comment: In Proceedings SYNT 2015, arXiv:1602.0078

    A Distributed Scheduling Algorithm to Provide Quality-of-Service in Multihop Wireless Networks

    Full text link
    Control of multihop Wireless networks in a distributed manner while providing end-to-end delay requirements for different flows, is a challenging problem. Using the notions of Draining Time and Discrete Review from the theory of fluid limits of queues, an algorithm that meets delay requirements to various flows in a network is constructed. The algorithm involves an optimization which is implemented in a cyclic distributed manner across nodes by using the technique of iterative gradient ascent, with minimal information exchange between nodes. The algorithm uses time varying weights to give priority to flows. The performance of the algorithm is studied in a network with interference modelled by independent sets

    TarTar: A Timed Automata Repair Tool

    Full text link
    We present TarTar, an automatic repair analysis tool that, given a timed diagnostic trace (TDT) obtained during the model checking of a timed automaton model, suggests possible syntactic repairs of the analyzed model. The suggested repairs include modified values for clock bounds in location invariants and transition guards, adding or removing clock resets, etc. The proposed repairs are guaranteed to eliminate executability of the given TDT, while preserving the overall functional behavior of the system. We give insights into the design and architecture of TarTar, and show that it can successfully repair 69% of the seeded errors in system models taken from a diverse suite of case studies.Comment: 15 pages, 7 figure

    A Learning-based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles

    Full text link
    Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application, provides drivers with extra benefits such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as cutting-into the CACC platoons by interfering vehicles or hard braking by leading cars. To address this problem, a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme is proposed in the first part of this paper. Next, a probabilistic framework is developed in which the cut-in probability is calculated based on the output of the mentioned cut-in prediction block. Finally, a specific Stochastic Model Predictive Controller (SMPC) is designed which incorporates this cut-in probability to enhance its reaction against the detected dangerous cut-in maneuver. The overall system is implemented and its performance is evaluated using realistic driving scenarios from Safety Pilot Model Deployment (SPMD).Comment: 10 pages, Submitted as a journal paper at T-I
    • …
    corecore