1,279 research outputs found

    Branch-and-lift algorithm for deterministic global optimization in nonlinear optimal control

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    This paper presents a branch-and-lift algorithm for solving optimal control problems with smooth nonlinear dynamics and potentially nonconvex objective and constraint functionals to guaranteed global optimality. This algorithm features a direct sequential method and builds upon a generic, spatial branch-and-bound algorithm. A new operation, called lifting, is introduced, which refines the control parameterization via a Gram-Schmidt orthogonalization process, while simultaneously eliminating control subregions that are either infeasible or that provably cannot contain any global optima. Conditions are given under which the image of the control parameterization error in the state space contracts exponentially as the parameterization order is increased, thereby making the lifting operation efficient. A computational technique based on ellipsoidal calculus is also developed that satisfies these conditions. The practical applicability of branch-and-lift is illustrated in a numerical example. © 2013 Springer Science+Business Media New York

    Verification of Stochastic Process Calculi

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    Numerical Integration and Dynamic Discretization in Heuristic Search Planning over Hybrid Domains

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    In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of plans complies with a given set of global constraints. We approach the computation of plans for such domains as the problem of searching over a deterministic state model. In this model, some of the successor states are obtained by solving numerically the so-called initial value problem over a set of ordinary differential equations (ODE) given by the current plan prefix. These equations hold over time intervals whose duration is determined dynamically, according to whether zero crossing events take place for a set of invariant conditions. The resulting planner, FS+, incorporates these features together with effective heuristic guidance. FS+ does not impose any of the syntactic restrictions on process effects often found on the existing literature on Hybrid Planning. A key concept of our approach is that a clear separation is struck between planning and simulation time steps. The former is the time allowed to observe the evolution of a given dynamical system before committing to a future course of action, whilst the later is part of the model of the environment. FS+ is shown to be a robust planner over a diverse set of hybrid domains, taken from the existing literature on hybrid planning and systems.Comment: 17 page

    Crossing the Undecidability Border with Extensions of Propositional Neighborhood Logic over Natural Numbers

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    Propositional Neighborhood Logic (PNL) is an interval temporal logic featuring two modalities corresponding to the relations of right and left neighborhood between two intervals on a linear order (in terms of Allen's relations, meets and met by). Recently, it has been shown that PNL interpreted over several classes of linear orders, including natural numbers, is decidable (NEXPTIME-complete) and that some of its natural extensions preserve decidability. Most notably, this is the case with PNL over natural numbers extended with a limited form of metric constraints and with the future fragment of PNL extended with modal operators corresponding to Allen's relations begins, begun by, and before. This paper aims at demonstrating that PNL and its metric version MPNL, interpreted over natural numbers, are indeed very close to the border with undecidability, and even relatively weak extensions of them become undecidable. In particular, we show that (i) the addition of binders on integer variables ranging over interval lengths makes the resulting hybrid extension of MPNL undecidable, and (ii) a very weak first-order extension of the future fragment of PNL, obtained by replacing proposition letters by a restricted subclass of first-order formulae where only one variable is allowed, is undecidable (in contrast with the decidability of similar first-order extensions of point-based temporal logics)

    IFM2005 doctoral symposium on integrated formal methods, Eindhoven, The Netherlands, November 29, 2005

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    Diagnostics for model checking

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