2,739 research outputs found
Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation
We present a new temporal logic called Distribution Temporal Logic (DTL)
defined over predicates of belief states and hidden states of partially
observable systems. DTL can express properties involving uncertainty and
likelihood that cannot be described by existing logics. A co-safe formulation
of DTL is defined and algorithmic procedures are given for monitoring
executions of a partially observable Markov decision process with respect to
such formulae. A simulation case study of a rescue robotics application
outlines our approach.Comment: More expanded version of "Distribution Temporal Logic: Combining
Correctness with Quality of Estimation" to appear in IEEE CDC 201
Technical report: Distribution Temporal Logic: combining correctness with quality of estimation
We present a new temporal logic called Distribution Temporal Logic (DTL) defined over predicates of belief states and hidden states of partially observable systems. DTL can express properties involving uncertainty and likelihood that cannot be described by existing logics. A co-safe formulation of DTL is defined and algorithmic procedures are given for monitoring executions of a partially observable Markov decision process with respect to such formulae. A simulation case study of a rescue robotics application outlines our approach
Adversarial Robustness Verification and Attack Synthesis in Stochastic Systems
Probabilistic model checking is a useful technique for specifying and
verifying properties of stochastic systems including randomized protocols and
reinforcement learning models. Existing methods rely on the assumed structure
and probabilities of certain system transitions. These assumptions may be
incorrect, and may even be violated by an adversary who gains control of system
components.
In this paper, we develop a formal framework for adversarial robustness in
systems modeled as discrete time Markov chains (DTMCs). We base our framework
on existing methods for verifying probabilistic temporal logic properties and
extend it to include deterministic, memoryless policies acting in Markov
decision processes (MDPs). Our framework includes a flexible approach for
specifying structure-preserving and non structure-preserving adversarial
models. We outline a class of threat models under which adversaries can perturb
system transitions, constrained by an ball around the original
transition probabilities.
We define three main DTMC adversarial robustness problems: adversarial
robustness verification, maximal synthesis, and worst case attack
synthesis. We present two optimization-based solutions to these three problems,
leveraging traditional and parametric probabilistic model checking techniques.
We then evaluate our solutions on two stochastic protocols and a collection of
Grid World case studies, which model an agent acting in an environment
described as an MDP. We find that the parametric solution results in fast
computation for small parameter spaces. In the case of less restrictive
(stronger) adversaries, the number of parameters increases, and directly
computing property satisfaction probabilities is more scalable. We demonstrate
the usefulness of our definitions and solutions by comparing system outcomes
over various properties, threat models, and case studies.Comment: To Appear, 35th IEEE Computer Security Foundations Symposium (2022
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA
Strategy Synthesis for Autonomous Agents Using PRISM
We present probabilistic models for autonomous agent search and retrieve missions derived from Simulink models for an Unmanned Aerial Vehicle (UAV) and show how probabilistic model checking and the probabilistic model checker PRISM can be used for optimal controller generation. We introduce a sequence of scenarios relevant to UAVs and other autonomous agents such as underwater and ground vehicles. For each scenario we demonstrate how it can be modelled using the PRISM language, give model checking statistics and present the synthesised optimal controllers. We conclude with a discussion of the limitations when using probabilistic model checking and PRISM in this context and what steps can be taken to overcome them. In addition, we consider how the controllers can be returned to the UAV and adapted for use on larger search areas
Provably Safe Robot Navigation with Obstacle Uncertainty
As drones and autonomous cars become more widespread it is becoming
increasingly important that robots can operate safely under realistic
conditions. The noisy information fed into real systems means that robots must
use estimates of the environment to plan navigation. Efficiently guaranteeing
that the resulting motion plans are safe under these circumstances has proved
difficult. We examine how to guarantee that a trajectory or policy is safe with
only imperfect observations of the environment. We examine the implications of
various mathematical formalisms of safety and arrive at a mathematical notion
of safety of a long-term execution, even when conditioned on observational
information. We present efficient algorithms that can prove that trajectories
or policies are safe with much tighter bounds than in previous work. Notably,
the complexity of the environment does not affect our methods ability to
evaluate if a trajectory or policy is safe. We then use these safety checking
methods to design a safe variant of the RRT planning algorithm.Comment: RSS 201
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