3,413 research outputs found
Counterexample Guided Inductive Optimization Applied to Mobile Robots Path Planning (Extended Version)
We describe and evaluate a novel optimization-based off-line path planning
algorithm for mobile robots based on the Counterexample-Guided Inductive
Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples
generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories
(SMT) solvers, in order to guide the optimization process and to ensure global
optimization. This paper marks the first application of CEGIO for planning
mobile robot path. In particular, CEGIO has been successfully applied to obtain
optimal two-dimensional paths for autonomous mobile robots using off-the-shelf
SAT and SMT solvers.Comment: 7 pages, 14rd Latin American Robotics Symposium (LARS'2017
Incremental Search for Counterexample-Guided Cartesian Abstraction Refinement
Counterexample-guided Cartesian abstraction refinement has been shown to yield informative heuristics for optimal classical planning. The algorithm iteratively finds an abstract solution and uses it to decide how to refine the abstraction. Since the abstraction grows in each step, finding solutions is the main bottleneck of the refinement loop. We cast the refinements as an incremental search problem and show that this drastically reduces the time for computing abstractions
Abstraction in directed model checking
Abstraction is one of the most important issues to cope with large and infinite state spaces in model checking and to reduce the verification efforts. The abstract system is smaller than the original one and if the abstract system satisfies a correctness specification, so does the concrete one. However, abstractions may introduce a behavior violating the specification that is not present in the original system.
This paper bypasses this problem by proposing the combination of abstraction with heuristic search to improve error detection. The abstract system is explored in order to create a database that stores the exact distances from abstract states to the set of abstract error states. To check, whether or not the abstract behavior is present in the original system, effcient exploration algorithms exploit the database as a guidance
Are There Good Mistakes? A Theoretical Analysis of CEGIS
Counterexample-guided inductive synthesis CEGIS is used to synthesize
programs from a candidate space of programs. The technique is guaranteed to
terminate and synthesize the correct program if the space of candidate programs
is finite. But the technique may or may not terminate with the correct program
if the candidate space of programs is infinite. In this paper, we perform a
theoretical analysis of counterexample-guided inductive synthesis technique. We
investigate whether the set of candidate spaces for which the correct program
can be synthesized using CEGIS depends on the counterexamples used in inductive
synthesis, that is, whether there are good mistakes which would increase the
synthesis power. We investigate whether the use of minimal counterexamples
instead of arbitrary counterexamples expands the set of candidate spaces of
programs for which inductive synthesis can successfully synthesize a correct
program. We consider two kinds of counterexamples: minimal counterexamples and
history bounded counterexamples. The history bounded counterexample used in any
iteration of CEGIS is bounded by the examples used in previous iterations of
inductive synthesis. We examine the relative change in power of inductive
synthesis in both cases. We show that the synthesis technique using minimal
counterexamples MinCEGIS has the same synthesis power as CEGIS but the
synthesis technique using history bounded counterexamples HCEGIS has different
power than that of CEGIS, but none dominates the other.Comment: In Proceedings SYNT 2014, arXiv:1407.493
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