Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.Comment: Full Version for ECC 201

Relating timed and register automata

Timed automata and register automata are well-known models of computation over timed and data words respectively. The former has clocks that allow to test the lapse of time between two events, whilst the latter includes registers that can store data values for later comparison. Although these two models behave in appearance differently, several decision problems have the same (un)decidability and complexity results for both models. As a prominent example, emptiness is decidable for alternating automata with one clock or register, both with non-primitive recursive complexity. This is not by chance. This work confirms that there is indeed a tight relationship between the two models. We show that a run of a timed automaton can be simulated by a register automaton, and conversely that a run of a register automaton can be simulated by a timed automaton. Our results allow to transfer complexity and decidability results back and forth between these two kinds of models. We justify the usefulness of these reductions by obtaining new results on register automata.Comment: In Proceedings EXPRESS'10, arXiv:1011.601

Bisimulations and Logical Characterizations on Continuous-time Markov Decision Processes

In this paper we study strong and weak bisimulation equivalences for continuous-time Markov decision processes (CTMDPs) and the logical characterizations of these relations with respect to the continuous-time stochastic logic (CSL). For strong bisimulation, it is well known that it is strictly finer than CSL equivalence. In this paper we propose strong and weak bisimulations for CTMDPs and show that for a subclass of CTMDPs, strong and weak bisimulations are both sound and complete with respect to the equivalences induced by CSL and the sub-logic of CSL without next operator respectively. We then consider a standard extension of CSL, and show that it and its sub-logic without X can be fully characterized by strong and weak bisimulations respectively over arbitrary CTMDPs.Comment: The conference version of this paper was published at VMCAI 201

Alternating Timed Automata over Bounded Time

Alternating timed automata are a powerful extension of classical Alur-Dill timed automata that are closed under all Boolean operations. They have played a key role, among others, in providing verification algorithms for prominent specification formalisms such as Metric Temporal Logic. Unfortunately, when interpreted over an infinite dense time domain (such as the reals), alternating timed automata have an undecidable language emptiness problem. The main result of this paper is that, over bounded time domains, language emptiness for alternating timed automata is decidable (but nonelementary). The proof involves showing decidability of a class of parametric McNaughton games that are played over timed words and that have winning conditions expressed in the monadic logic of order augmented with the distance-one relation. As a corollary, we establish the decidability of the time-bounded model-checking problem for Alur-Dill timed automata against specifications expressed as alternating timed automata. © 2010 IEEE