Observable Graphs

An edge-colored directed graph is \emph{observable} if an agent that moves along its edges is able to determine his position in the graph after a sufficiently long observation of the edge colors. When the agent is able to determine his position only from time to time, the graph is said to be \emph{partly observable}. Observability in graphs is desirable in situations where autonomous agents are moving on a network and one wants to localize them (or the agent wants to localize himself) with limited information. In this paper, we completely characterize observable and partly observable graphs and show how these concepts relate to observable discrete event systems and to local automata. Based on these characterizations, we provide polynomial time algorithms to decide observability, to decide partial observability, and to compute the minimal number of observations necessary for finding the position of an agent. In particular we prove that in the worst case this minimal number of observations increases quadratically with the number of nodes in the graph. From this it follows that it may be necessary for an agent to pass through the same node several times before he is finally able to determine his position in the graph. We then consider the more difficult question of assigning colors to a graph so as to make it observable and we prove that two different versions of this problem are NP-complete.Comment: 15 pages, 8 figure

On the Minimal Revision Problem of Specification Automata

As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all user task requirements can be realized by the robot. In such cases, the robot must provide feedback to the user on why it cannot accomplish a given task. Moreover, the robot should indicate what tasks it can accomplish which are as "close" as possible to the initial user intent. This paper establishes that the latter problem, which is referred to as the minimal specification revision problem, is NP complete. A heuristic algorithm is presented that can compute good approximations to the Minimal Revision Problem (MRP) in polynomial time. The experimental study of the algorithm demonstrates that in most problem instances the heuristic algorithm actually returns the optimal solution. Finally, some cases where the algorithm does not return the optimal solution are presented.Comment: 23 pages, 16 figures, 2 tables, International Joural of Robotics Research 2014 Major Revision (submitted

A weighted pair graph representation for reconstructibility of Boolean control networks

A new concept of weighted pair graphs (WPGs) is proposed to represent a new reconstructibility definition for Boolean control networks (BCNs), which is a generalization of the reconstructibility definition given in [Fornasini & Valcher, TAC2013, Def. 4]. Based on the WPG representation, an effective algorithm for determining the new reconstructibility notion for BCNs is designed with the help of the theories of finite automata and formal languages. We prove that a BCN is not reconstructible iff its WPG has a complete subgraph. Besides, we prove that a BCN is reconstructible in the sense of [Fornasini & Valcher, TAC2013, Def. 4] iff its WPG has no cycles, which is simpler to be checked than the condition in [Fornasini & Valcher, TAC2013, Thm. 4].Comment: 20 pages, 10 figures, accepted by SIAM Journal on Control and Optimizatio

CAIR: Using Formal Languages to Study Routing, Leaking, and Interception in BGP

The Internet routing protocol BGP expresses topological reachability and policy-based decisions simultaneously in path vectors. A complete view on the Internet backbone routing is given by the collection of all valid routes, which is infeasible to obtain due to information hiding of BGP, the lack of omnipresent collection points, and data complexity. Commonly, graph-based data models are used to represent the Internet topology from a given set of BGP routing tables but fall short of explaining policy contexts. As a consequence, routing anomalies such as route leaks and interception attacks cannot be explained with graphs. In this paper, we use formal languages to represent the global routing system in a rigorous model. Our CAIR framework translates BGP announcements into a finite route language that allows for the incremental construction of minimal route automata. CAIR preserves route diversity, is highly efficient, and well-suited to monitor BGP path changes in real-time. We formally derive implementable search patterns for route leaks and interception attacks. In contrast to the state-of-the-art, we can detect these incidents. In practical experiments, we analyze public BGP data over the last seven years

A Trichotomy for Regular Trail Queries

Regular path queries (RPQs) are an essential component of graph query languages. Such queries consider a regular expression r and a directed edge-labeled graph G and search for paths in G for which the sequence of labels is in the language of r. In order to avoid having to consider infinitely many paths, some database engines restrict such paths to be trails, that is, they only consider paths without repeated edges. In this paper we consider the evaluation problem for RPQs under trail semantics, in the case where the expression is fixed. We show that, in this setting, there exists a trichotomy. More precisely, the complexity of RPQ evaluation divides the regular languages into the finite languages, the class T_tract (for which the problem is tractable), and the rest. Interestingly, the tractable class in the trichotomy is larger than for the trichotomy for simple paths, discovered by Bagan et al. [Bagan et al., 2013]. In addition to this trichotomy result, we also study characterizations of the tractable class, its expressivity, the recognition problem, closure properties, and show how the decision problem can be extended to the enumeration problem, which is relevant to practice

Dichotomy Results for Fixed-Point Existence Problems for Boolean Dynamical Systems

A complete classification of the computational complexity of the fixed-point existence problem for boolean dynamical systems, i.e., finite discrete dynamical systems over the domain {0, 1}, is presented. For function classes F and graph classes G, an (F, G)-system is a boolean dynamical system such that all local transition functions lie in F and the underlying graph lies in G. Let F be a class of boolean functions which is closed under composition and let G be a class of graphs which is closed under taking minors. The following dichotomy theorems are shown: (1) If F contains the self-dual functions and G contains the planar graphs then the fixed-point existence problem for (F, G)-systems with local transition function given by truth-tables is NP-complete; otherwise, it is decidable in polynomial time. (2) If F contains the self-dual functions and G contains the graphs having vertex covers of size one then the fixed-point existence problem for (F, G)-systems with local transition function given by formulas or circuits is NP-complete; otherwise, it is decidable in polynomial time.Comment: 17 pages; this version corrects an error/typo in the 2008/01/24 versio

A Combinatorial Parametric Engineering Model for Solid Freeform Fabrication

Fabricated parts are often represented as compact connected smooth 3-manifolds with boundary, where the boundaries consist of compact smooth 2-manifolds. This class of mathematical structures includes topological spaces with enclosed voids and tunnels. Useful information about these structures are coded into level functions (Morse functions) which map points in the 3-manifold onto their height above a fixed plane. By definition, Morse functions are smooth functions, all of whose critical points are nondegenerate. This information is presented by the Reeb graph construction that develops a topologically informative skeleton of the manifold whose nodes are the critical points of the Morse function and whose edges are associated with the connected components between critical slices. This approach accurately captures the SFF process: using a solid geometric model of the part, defining surface boundaries; selecting a part orientation; forming planar slices, decomposing the solid into a sequence of thin cross-sectional polyhedral layers; and then fabricating the part by producing the polyhedra by additive manufacturing. This note will define a qualitative and combinatorial parametric engineering model of the SFF part design process. The objects under study will be abstract simplicial complexes K with boundary ∂K. Systems of labeled 2-surfaces in K, called slices, will be associated with the cross-sectional polyhedral layers. The labeled slices are mapped into a family of digraph automata, which, unlike cellular automata, are defined not on regular lattices with simple connectivities (cells usually have either 4 or 8 cell neighborhoods) but on unrestricted digraphs whose connectivities are irregular and more complicated.Mechanical Engineerin