Deductive Optimization of Relational Data Storage

Optimizing the physical data storage and retrieval of data are two key database management problems. In this paper, we propose a language that can express a wide range of physical database layouts, going well beyond the row- and column-based methods that are widely used in database management systems. We use deductive synthesis to turn a high-level relational representation of a database query into a highly optimized low-level implementation which operates on a specialized layout of the dataset. We build a compiler for this language and conduct experiments using a popular database benchmark, which shows that the performance of these specialized queries is competitive with a state-of-the-art in memory compiled database system

Multi-resolution mapping and planning for UAV navigation in attitude constrained environments

In this thesis we aim to bridge the gap between high quality map reconstruction and Unmanned Aerial Vehicles (UAVs) SE(3) motion planning in challenging environments with narrow openings, such as disaster areas, which requires attitude to be considered. We propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the hierarchical decomposition of space in an octree data structure. Instead of a Truncated Signed Distance Function (TSDF), we adopt mapping of occupancy probabilities in log-odds representation, which allows representation of both surfaces, as well as the entire free, i.e.\ observed space, as opposed to unobserved space. We introduce a method for choosing resolution -on the fly- in real-time by means of a multi-scale max-min pooling of the input depth image. The notion of explicit free space mapping paired with the spatial hierarchy in the data structure, as well as map resolution, allows for collision queries, as needed for robot motion planning, at unprecedented speed. Our mapping strategy supports pinhole cameras as well as spherical sensor models. Additionally, we introduce a first-of-a-kind global minimum cost path search method based on A* that considers attitude along the path. State-of-the-art methods incorporate attitude only in the refinement stage. To make the problem tractable, our method exploits an adaptive and coarse-to-fine approach using global and local A* runs, plus an efficient method to introduce the UAV attitude in the process. We integrate our method with an SE(3) trajectory optimisation method based on a safe-flight-corridor, yielding a complete path planning pipeline. We quantitatively evaluate our mapping strategy in terms of mapping accuracy, memory, runtime performance, and planning performance showing improvements over the state-of-the-art, particularly in cases requiring high resolution maps. Furthermore, extensive evaluation is undertaken using the AirSim flight simulator under closed loop control in a set of randomised maps, allowing us to quantitatively assess our path initialisation method. We show that it achieves significantly higher success rates than the baselines, at a reduced computational burden.Open Acces

Data representation synthesis

We consider the problem of specifying combinations of data structures with complex sharing in a manner that is both declarative and results in provably correct code. In our approach, abstract data types are specified using relational algebra and functional dependencies. We describe a language of decompositions that permit the user to specify different concrete representations for relations, and show that operations on concrete representations soundly implement their relational specification. It is easy to incorporate data representations synthesized by our compiler into existing systems, leading to code that is simpler, correct by construction, and comparable in performance to the code it replaces

Certified Reasoning for Automated Verification

Ph.DDOCTOR OF PHILOSOPH

Data structure fusion

We consider the problem of specifying data structures with complex sharing in a manner that is both declarative and results in provably correct code. In our approach, abstract data types are specified using relational algebra and functional dependencies; a novel fuse operation on relational indexes specifi es where the underlying physical data structure representation has sharing. We permit the user to specify diff erent concrete shared representations for relations, and show that the semantics of the relational specifi cation are preserved

M.: Data structure fusion

Abstract. We consider the problem of specifying data structures with complex sharing in a manner that is both declarative and results in provably correct code. In our approach, abstract data types are specified using relational algebra and functional dependencies; a novel fuse operation on relational indexes specifies where the underlying physical data structure representation has sharing. We permit the user to specify different concrete shared representations for relations, and show that the semantics of the relational specification are preserved.