14,530 research outputs found
Formal Proof and Analysis of an Incremental Cycle Detection Algorithm
We study a state-of-the-art incremental cycle detection algorithm due to Bender, Fineman, Gilbert, and Tarjan. We propose a simple change that allows the algorithm to be regarded as genuinely online. Then, we exploit Separation Logic with Time Credits to simultaneously verify the correctness and the worst-case amortized asymptotic complexity of the modified algorithm
Sampling-Based Temporal Logic Path Planning
In this paper, we propose a sampling-based motion planning algorithm that
finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a
set of properties satisfied by some regions in a given environment. The
algorithm has three main features. First, it is incremental, in the sense that
the procedure for finding a satisfying path at each iteration scales only with
the number of new samples generated at that iteration. Second, the underlying
graph is sparse, which guarantees the low complexity of the overall method.
Third, it is probabilistically complete. Examples illustrating the usefulness
and the performance of the method are included.Comment: 8 pages, 4 figures; extended version of the paper presented at IROS
201
Linear Encodings of Bounded LTL Model Checking
We consider the problem of bounded model checking (BMC) for linear temporal
logic (LTL). We present several efficient encodings that have size linear in
the bound. Furthermore, we show how the encodings can be extended to LTL with
past operators (PLTL). The generalised encoding is still of linear size, but
cannot detect minimal length counterexamples. By using the virtual unrolling
technique minimal length counterexamples can be captured, however, the size of
the encoding is quadratic in the specification. We also extend virtual
unrolling to Buchi automata, enabling them to accept minimal length
counterexamples.
Our BMC encodings can be made incremental in order to benefit from
incremental SAT technology. With fairly small modifications the incremental
encoding can be further enhanced with a termination check, allowing us to prove
properties with BMC. Experiments clearly show that our new encodings improve
performance of BMC considerably, particularly in the case of the incremental
encoding, and that they are very competitive for finding bugs. An analysis of
the liveness-to-safety transformation reveals many similarities to the BMC
encodings in this paper. Using the liveness-to-safety translation with
BDD-based invariant checking results in an efficient method to find shortest
counterexamples that complements the BMC-based approach.Comment: Final version for Logical Methods in Computer Science CAV 2005
special issu
Dual Averaging for Distributed Optimization: Convergence Analysis and Network Scaling
The goal of decentralized optimization over a network is to optimize a global
objective formed by a sum of local (possibly nonsmooth) convex functions using
only local computation and communication. It arises in various application
domains, including distributed tracking and localization, multi-agent
co-ordination, estimation in sensor networks, and large-scale optimization in
machine learning. We develop and analyze distributed algorithms based on dual
averaging of subgradients, and we provide sharp bounds on their convergence
rates as a function of the network size and topology. Our method of analysis
allows for a clear separation between the convergence of the optimization
algorithm itself and the effects of communication constraints arising from the
network structure. In particular, we show that the number of iterations
required by our algorithm scales inversely in the spectral gap of the network.
The sharpness of this prediction is confirmed both by theoretical lower bounds
and simulations for various networks. Our approach includes both the cases of
deterministic optimization and communication, as well as problems with
stochastic optimization and/or communication.Comment: 40 pages, 4 figure
- …