Invariant Generation through Strategy Iteration in Succinctly Represented Control Flow Graphs

We consider the problem of computing numerical invariants of programs, for instance bounds on the values of numerical program variables. More specifically, we study the problem of performing static analysis by abstract interpretation using template linear constraint domains. Such invariants can be obtained by Kleene iterations that are, in order to guarantee termination, accelerated by widening operators. In many cases, however, applying this form of extrapolation leads to invariants that are weaker than the strongest inductive invariant that can be expressed within the abstract domain in use. Another well-known source of imprecision of traditional abstract interpretation techniques stems from their use of join operators at merge nodes in the control flow graph. The mentioned weaknesses may prevent these methods from proving safety properties. The technique we develop in this article addresses both of these issues: contrary to Kleene iterations accelerated by widening operators, it is guaranteed to yield the strongest inductive invariant that can be expressed within the template linear constraint domain in use. It also eschews join operators by distinguishing all paths of loop-free code segments. Formally speaking, our technique computes the least fixpoint within a given template linear constraint domain of a transition relation that is succinctly expressed as an existentially quantified linear real arithmetic formula. In contrast to previously published techniques that rely on quantifier elimination, our algorithm is proved to have optimal complexity: we prove that the decision problem associated with our fixpoint problem is in the second level of the polynomial-time hierarchy.Comment: 35 pages, conference version published at ESOP 2011, this version is a CoRR version of our submission to Logical Methods in Computer Scienc

Introduction to clarithmetic I

"Clarithmetic" is a generic name for formal number theories similar to Peano arithmetic, but based on computability logic (see http://www.cis.upenn.edu/~giorgi/cl.html) instead of the more traditional classical or intuitionistic logics. Formulas of clarithmetical theories represent interactive computational problems, and their "truth" is understood as existence of an algorithmic solution. Imposing various complexity constraints on such solutions yields various versions of clarithmetic. The present paper introduces a system of clarithmetic for polynomial time computability, which is shown to be sound and complete. Sound in the sense that every theorem T of the system represents an interactive number-theoretic computational problem with a polynomial time solution and, furthermore, such a solution can be efficiently extracted from a proof of T. And complete in the sense that every interactive number-theoretic problem with a polynomial time solution is represented by some theorem T of the system. The paper is written in a semitutorial style and targets readers with no prior familiarity with computability logic

Ptarithmetic

The present article introduces ptarithmetic (short for "polynomial time arithmetic") -- a formal number theory similar to the well known Peano arithmetic, but based on the recently born computability logic (see http://www.cis.upenn.edu/~giorgi/cl.html) instead of classical logic. The formulas of ptarithmetic represent interactive computational problems rather than just true/false statements, and their "truth" is understood as existence of a polynomial time solution. The system of ptarithmetic elaborated in this article is shown to be sound and complete. Sound in the sense that every theorem T of the system represents an interactive number-theoretic computational problem with a polynomial time solution and, furthermore, such a solution can be effectively extracted from a proof of T. And complete in the sense that every interactive number-theoretic problem with a polynomial time solution is represented by some theorem T of the system. The paper is self-contained, and can be read without any previous familiarity with computability logic.Comment: Substantially better versions are on their way. Hence the present article probably will not be publishe

Quasi-Birth-Death Processes, Tree-Like QBDs, Probabilistic 1-Counter Automata, and Pushdown Systems

We begin by observing that (discrete-time) Quasi-Birth-Death Processes (QBDs) are equivalent, in a precise sense, to probabilistic 1-Counter Automata (p1CAs), and both Tree-Like QBDs (TL-QBDs) and Tree-Structured QBDs (TS-QBDs) are equivalent to both probabilistic Pushdown Systems (pPDSs) and Recursive Markov Chains (RMCs). We then proceed to exploit these connections to obtain a number of new algorithmic upper and lower bounds for central computational problems about these models. Our main result is this: for an arbitrary QBD, we can approximate its termination probabilities (i.e., its $G$ matrix) to within $i$ bits of precision (i.e., within additive error $1/2^i$), in time polynomial in \underline{both} the encoding size of the QBD and in $i$, in the unit-cost rational arithmetic RAM model of computation. Specifically, we show that a decomposed Newton's method can be used to achieve this. We emphasize that this bound is very different from the well-known ``linear/quadratic convergence'' of numerical analysis, known for QBDs and TL-QBDs, which typically gives no constructive bound in terms of the encoding size of the system being solved. In fact, we observe (based on recent results) that for the more general TL-QBDs such a polynomial upper bound on Newton's method fails badly. Our upper bound proof for QBDs combines several ingredients: a detailed analysis of the structure of 1-counter automata, an iterative application of a classic condition number bound for errors in linear systems, and a very recent constructive bound on the performance of Newton's method for strongly connected monotone systems of polynomial equations. We show that the quantitative termination decision problem for QBDs (namely, ``is $G_{u,v} \geq 1/2$?'') is at least as hard as long standing open problems in the complexity of exact numerical computation, specifically the square-root sum problem. On the other hand, it follows from our earlier results for RMCs that any non-trivial approximation of termination probabilities for TL-QBDs is sqrt-root-sum-hard

Interpretable task planning and learning for autonomous robotic surgery with logic programming

This thesis addresses the long-term goal of full (supervised) autonomy in surgery, characterized by dynamic environmental (anatomical) conditions, unpredictable workflow of execution and workspace constraints. The scope is to reach autonomy at the level of sub-tasks of a surgical procedure, i.e. repetitive, yet tedious operations (e.g., dexterous manipulation of small objects in a constrained environment, as needle and wire for suturing). This will help reducing time of execution, hospital costs and fatigue of surgeons during the whole procedure, while further improving the recovery time for the patients. A novel framework for autonomous surgical task execution is presented in the first part of this thesis, based on answer set programming (ASP), a logic programming paradigm, for task planning (i.e., coordination of elementary actions and motions). Logic programming allows to directly encode surgical task knowledge, representing emph{plan reasoning methodology} rather than a set of pre-defined plans. This solution introduces several key advantages, as reliable human-like interpretable plan generation, real-time monitoring of the environment and the workflow for ready adaptation and failure recovery. Moreover, an extended review of logic programming for robotics is presented, motivating the choice of ASP for surgery and providing an useful guide for robotic designers. In the second part of the thesis, a novel framework based on inductive logic programming (ILP) is presented for surgical task knowledge learning and refinement. ILP guarantees fast learning from very few examples, a common drawback of surgery. Also, a novel action identification algorithm is proposed based on automatic environmental feature extraction from videos, dealing for the first time with small and noisy datasets collecting different workflows of executions under environmental variations. This allows to define a systematic methodology for unsupervised ILP. All the results in this thesis are validated on a non-standard version of the benchmark training ring transfer task for surgeons, which mimics some of the challenges of real surgery, e.g. constrained bimanual motion in small space

Minkowski Sum Construction and other Applications of Arrangements of Geodesic Arcs on the Sphere

We present two exact implementations of efficient output-sensitive algorithms that compute Minkowski sums of two convex polyhedra in 3D. We do not assume general position. Namely, we handle degenerate input, and produce exact results. We provide a tight bound on the exact maximum complexity of Minkowski sums of polytopes in 3D in terms of the number of facets of the summand polytopes. The algorithms employ variants of a data structure that represents arrangements embedded on two-dimensional parametric surfaces in 3D, and they make use of many operations applied to arrangements in these representations. We have developed software components that support the arrangement data-structure variants and the operations applied to them. These software components are generic, as they can be instantiated with any number type. However, our algorithms require only (exact) rational arithmetic. These software components together with exact rational-arithmetic enable a robust, efficient, and elegant implementation of the Minkowski-sum constructions and the related applications. These software components are provided through a package of the Computational Geometry Algorithm Library (CGAL) called Arrangement_on_surface_2. We also present exact implementations of other applications that exploit arrangements of arcs of great circles embedded on the sphere. We use them as basic blocks in an exact implementation of an efficient algorithm that partitions an assembly of polyhedra in 3D with two hands using infinite translations. This application distinctly shows the importance of exact computation, as imprecise computation might result with dismissal of valid partitioning-motions.Comment: A Ph.D. thesis carried out at the Tel-Aviv university. 134 pages long. The advisor was Prof. Dan Halperi

Fast exact algorithms for optimization problems in resource allocation and switched linear systems

University of Minnesota Ph.D. dissertation.June 2019. Major: Industrial Engineering. Advisor: Qie He. 1 computer file (PDF); x, 138 pages.Discrete optimization is a branch of mathematical optimization where some of the decision variables are restricted to real values in a discrete set. The use of discrete decision variables greatly expands the scope and capacity of mathematical optimization models. In the era of big data, efficiency and scalability are increasingly important in evaluating the performance of an algorithm. However, discrete optimization problems usually are challenging to solve. In this thesis, we develop new fast exact algorithms for discrete optimization problems arising in the field of resource allocation and switched linear systems. The first problem is the discrete resource allocation problem with nested bound constraints. It is a fundamental problem with a wide variety of applications in search theory, economics, inventory systems, etc. Given $B$ units of resource and $n$ activities, each of which associated with a convex allocation cost $f_i(\cdot)$, we aim to find an allocation of resources to the $n$ activities, denoted by \bm{x} \in \Ze^n, to minimize the total allocation cost $\sum\limits_{i = 1}^{n} f_i(x_i)$ subject to the total amount of resource constraint as well as lower and upper bound constraints on total resource allocated to subsets of activities. We develop a $\Theta(n^2\log\frac{B}{n})$-time algorithm for it. It is an infeasibility-guided divide-and-conquer algorithm and the worst-case complexity is usually not achieved. Numerical experiments demonstrate that our algorithm significantly outperforms a state-of-the-art optimization solver and the performance of our algorithm is competitive compared to the algorithm with the best worst-case complexity for this problem in the literature. The second problem is the minimum convex cost network flow problem on the dynamic lot size network. In the dynamic lot size network, there are one source node and $n$ sink nodes with demand $d_i, i = 1, \dots, n$. Let $B = \sum_{i=0}^{n}d_i$ be the total demand. We aim to find a flow $\bm{x}$ to minimize the total arc cost and satisfy all the flow balance and capacity constraints. Many optimization models in the literature can be seen as special cases of this problem, including dynamic lot-sizing problem and speed optimization. It is also a generalization of the first problem. We develop the Scaled Flow-improving Algorithm. For the continuous problem, our algorithm finds a solution that is at most $\epsilon$ away from an optimal solution in terms of the infinity norm in $O(n^2\log{\frac{B}{n\epsilon}})$ time. For the integer problem, our algorithm terminates in $O(n^2\log\frac{B}{n})$ time. Our algorithm has the best worst-case complexity in the literature. In particular, it solves the discrete resource allocation problem with nested bound constraints in $O(n\log{n}\log\frac{B}{n})$ time and it also achieves the best worst-case complexity for that problem. We conduct extensive numerical experiments on instances with a variety of convex objectives. The numerical result demonstrates the efficiency of our algorithm in solving large-sized instances. The last problem is the optimal control problem in switched linear systems. We consider the following dynamical system that consists of several linear subsystems: $K$ matrices, each chosen from the given set of matrices, to maximize a convex function over the product of the $K$ matrices and the given vector.This simple problem has many applications in operations research and control, yet a moderate-sized instance is challenging to solve to optimality for state-of-the-art optimization software. We prove the problem is NP-hard. We propose a simple exact algorithm for this problem. Our algorithm runs in polynomial time when the given set of matrices has the oligo-vertex property, a concept we introduce for a set of matrices. We derive several easy-to-verify sufficient conditions for a set of matrices to have the oligo-vertex property. In particular, we show that a pair of binary matrices has the oligo-vertex property. Numerical results demonstrate the clear advantage of our algorithm in solving large-sized instances of the problem over one state-of-the-art global solver. We also pose several open questions on the oligo-vertex property and discuss its potential connection with the finiteness property of a set of matrices, which may be of independent interest