38,460 research outputs found
Parallel Algorithms for Depth-First Search
In this paper we examine parallel algorithms for performing a depth-first search (DFS) of a directed or undirected graph in sub-linear time. this subject is interesting in part because DFS seemed at first to be an inherently sequential process, and for a long time many researchers believed that no such algorithms existed. We survey three seminal papers on the subject. The first one proves that a special case of DFS is (in all likelihood) inherently sequential; the second shows that DFS for planar undirected graphs is in NC; and the third shows that DFS for general undirected graphs is in RNC. We also discuss randomnized algorithms, P-completeness and matching, three topics that are essential for understanding and appreciating the results in these papers
Model Checking CTL is Almost Always Inherently Sequential
The model checking problem for CTL is known to be P-complete (Clarke, Emerson, and Sistla (1986), see Schnoebelen (2002)). We consider fragments of CTL obtained by restricting the use of temporal modalities or the use of negations—restrictions already studied for LTL by Sistla and Clarke (1985) and Markey (2004). For all these fragments, except for the trivial case without any temporal operator, we systematically prove model checking to be either inherently sequential (P-complete) or very efficiently parallelizable (LOGCFL-complete). For most fragments, however, model checking for CTL is already P-complete. Hence our results indicate that in most applications, approaching CTL model checking by parallelism will not result in the desired speed up. We also completely determine the complexity of the model checking problem for all fragments of the extensions ECTL, CTL +, and ECTL +
Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel
This paper describes the design, implementation and testing of a suite of
algorithms to enable depth constrained autonomous bathymetric (underwater
topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth
and a bounding polygon, the ASV will find and follow the intersection of the
bounding polygon and the depth contour as modeled online with a Gaussian
Process (GP). This intersection, once mapped, will then be used as a boundary
within which a path will be planned for coverage to build a map of the
Bathymetry. Methods for sequential updates to GP's are described allowing
online fitting, prediction and hyper-parameter optimisation on a small embedded
PC. New algorithms are introduced for the partitioning of convex polygons to
allow efficient path planning for coverage. These algorithms are tested both in
simulation and in the field with a small twin hull differential thrust vessel
built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field
Robotic
Boosting Multi-Core Reachability Performance with Shared Hash Tables
This paper focuses on data structures for multi-core reachability, which is a
key component in model checking algorithms and other verification methods. A
cornerstone of an efficient solution is the storage of visited states. In
related work, static partitioning of the state space was combined with
thread-local storage and resulted in reasonable speedups, but left open whether
improvements are possible. In this paper, we present a scaling solution for
shared state storage which is based on a lockless hash table implementation.
The solution is specifically designed for the cache architecture of modern
CPUs. Because model checking algorithms impose loose requirements on the hash
table operations, their design can be streamlined substantially compared to
related work on lockless hash tables. Still, an implementation of the hash
table presented here has dozens of sensitive performance parameters (bucket
size, cache line size, data layout, probing sequence, etc.). We analyzed their
impact and compared the resulting speedups with related tools. Our
implementation outperforms two state-of-the-art multi-core model checkers (SPIN
and DiVinE) by a substantial margin, while placing fewer constraints on the
load balancing and search algorithms.Comment: preliminary repor
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