268 research outputs found
Optimization Modulo Theories with Linear Rational Costs
In the contexts of automated reasoning (AR) and formal verification (FV),
important decision problems are effectively encoded into Satisfiability Modulo
Theories (SMT). In the last decade efficient SMT solvers have been developed
for several theories of practical interest (e.g., linear arithmetic, arrays,
bit-vectors). Surprisingly, little work has been done to extend SMT to deal
with optimization problems; in particular, we are not aware of any previous
work on SMT solvers able to produce solutions which minimize cost functions
over arithmetical variables. This is unfortunate, since some problems of
interest require this functionality.
In the work described in this paper we start filling this gap. We present and
discuss two general procedures for leveraging SMT to handle the minimization of
linear rational cost functions, combining SMT with standard minimization
techniques. We have implemented the procedures within the MathSAT SMT solver.
Due to the absence of competitors in the AR, FV and SMT domains, we have
experimentally evaluated our implementation against state-of-the-art tools for
the domain of linear generalized disjunctive programming (LGDP), which is
closest in spirit to our domain, on sets of problems which have been previously
proposed as benchmarks for the latter tools. The results show that our tool is
very competitive with, and often outperforms, these tools on these problems,
clearly demonstrating the potential of the approach.Comment: Submitted on january 2014 to ACM Transactions on Computational Logic,
currently under revision. arXiv admin note: text overlap with arXiv:1202.140
Multi-agent pathfinding for unmanned aerial vehicles
Unmanned aerial vehicles (UAVs), commonly known as drones, have become more and
more prevalent in recent years. In particular, governmental organizations and companies
around the world are starting to research how UAVs can be used to perform tasks such
as package deliver, disaster investigation and surveillance of key assets such as pipelines,
railroads and bridges. NASA is currently in the early stages of developing an air traffic
control system specifically designed to manage UAV operations in low-altitude airspace.
Companies such as Amazon and Rakuten are testing large-scale drone deliver services in
the USA and Japan.
To perform these tasks, safe and conflict-free routes for concurrently operating UAVs must
be found. This can be done using multi-agent pathfinding (mapf) algorithms, although
the correct choice of algorithms is not clear. This is because many state of the art mapf
algorithms have only been tested in 2D space in maps with many obstacles, while UAVs
operate in 3D space in open maps with few obstacles. In addition, when an unexpected
event occurs in the airspace and UAVs are forced to deviate from their original routes
while inflight, new conflict-free routes must be found. Planning for these unexpected
events is commonly known as contingency planning. With manned aircraft, contingency
plans can be created in advance or on a case-by-case basis while inflight. The scale at
which UAVs operate, combined with the fact that unexpected events may occur anywhere
at any time make both advanced planning and planning on a case-by-case basis impossible.
Thus, a new approach is needed. Online multi-agent pathfinding (online mapf) looks to
be a promising solution. Online mapf utilizes traditional mapf algorithms to perform path
planning in real-time. That is, new routes for UAVs are found while inflight.
The primary contribution of this thesis is to present one possible approach to UAV
contingency planning using online multi-agent pathfinding algorithms, which can be used
as a baseline for future research and development. It also provides an in-depth overview
and analysis of offline mapf algorithms with the goal of determining which ones are likely
to perform best when applied to UAVs. Finally, to further this same goal, a few different
mapf algorithms are experimentally tested and analyzed
Design, Verification, Test and In-Field Implications of Approximate Computing Systems
Today, the concept of approximation in computing is becoming more and more a “hot topic” to investigate how computing systems can be more energy efficient, faster, and less complex. Intuitively, instead of performing exact computations and, consequently, requiring a high amount of resources, Approximate Computing aims at selectively relaxing the specifications, trading accuracy off for efficiency. While Approximate Computing gives several promises when looking at systems’ performance, energy efficiency and complexity, it poses significant challenges regarding the design, the verification, the test and the in-field reliability of Approximate Computing systems. This tutorial paper covers these aspects leveraging the experience of the authors in the field to present state-of-the-art solutions to apply during the different development phases of an Approximate Computing system
Scalable Design Space Exploration via Answer Set Programming
The design of embedded systems is becoming continuously more complex such that the application of efficient high level design methods are crucial for competitive results regarding design time and performance. Recently, advances in Boolean constraint solvers for Answer Set Programming (ASP) allow for easy integration of background theories and more control over the solving process. The goal of this research is to leverage those advances for system level design space exploration while using specialized techniques from electronic design automation that drive new application-originated ideas for multi-objective combinatorial optimization
Interpretable task planning and learning for autonomous robotic surgery with logic programming
This thesis addresses the long-term goal of full (supervised) autonomy in surgery, characterized by dynamic environmental (anatomical) conditions, unpredictable workflow of execution and workspace constraints. The scope is to reach autonomy at the level of sub-tasks of a surgical procedure, i.e. repetitive, yet tedious operations (e.g., dexterous manipulation of small objects in a constrained environment, as needle and wire for suturing). This will help reducing time of execution, hospital costs and fatigue of surgeons during the whole procedure, while further improving the recovery time for the patients. A novel framework for autonomous surgical task execution is presented in the first part of this thesis, based on answer set programming (ASP), a logic programming paradigm, for task planning (i.e., coordination of elementary actions and motions). Logic programming allows to directly encode surgical task knowledge, representing emph{plan reasoning methodology} rather than a set of pre-defined plans. This solution introduces several key advantages, as reliable human-like interpretable plan generation, real-time monitoring of the environment and the workflow for ready adaptation and failure recovery. Moreover, an extended review of logic programming for robotics is presented, motivating the choice of ASP for surgery and providing an useful guide for robotic designers. In the second part of the thesis, a novel framework based on inductive logic programming (ILP) is presented for surgical task knowledge learning and refinement. ILP guarantees fast learning from very few examples, a common drawback of surgery. Also, a novel action identification algorithm is proposed based on automatic environmental feature extraction from videos, dealing for the first time with small and noisy datasets collecting different workflows of executions under environmental variations. This allows to define a systematic methodology for unsupervised ILP. All the results in this thesis are validated on a non-standard version of the benchmark training ring transfer task for surgeons, which mimics some of the challenges of real surgery, e.g. constrained bimanual motion in small space
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