Online determinization of large mutating automata

A mutating finite automaton (MFA) is a nondeterministic finite automaton (NFA) which changes its morphology over discrete time by a sequence of mutations, one mutation at each time instant. A mutation involves the insertion and/or removal of a set of states and/or transitions. This results in a sequence of NFAs, one mutated NFA for each mutation. Some application domains, including model-based diagnosis and monitoring of active systems in artificial intelligence and model-based testing in software engineering, require online determinization of MFAs. Determinizing an MFA online means generating a deterministic finite automaton (DFA) as soon as a mutation occurs, which is equivalent to the mutated NFA. Since the classical Subset Construction determinization algorithm may be inadequate for MFAs, a conservative algorithm is proposed, called Subset Restructuring, that generates the new DFA by restructuring the previous DFA based on the mutation occurred, instead of building it from scratch. Experimental results indicate the effectiveness of the approach, especially so when large MFAs change in time by small mutations

Building Efficient and Compact Data Structures for Simplicial Complexes

The Simplex Tree (ST) is a recently introduced data structure that can represent abstract simplicial complexes of any dimension and allows efficient implementation of a large range of basic operations on simplicial complexes. In this paper, we show how to optimally compress the Simplex Tree while retaining its functionalities. In addition, we propose two new data structures called the Maximal Simplex Tree (MxST) and the Simplex Array List (SAL). We analyze the compressed Simplex Tree, the Maximal Simplex Tree, and the Simplex Array List under various settings.Comment: An extended abstract appeared in the proceedings of SoCG 201

The Suffix Tree of a Tree and Minimizing Sequential Transducers

This paper gives a linear-time algorithm for the construction of thesuffix tree of a tree. The suffix tree of a tree is used to obtain an efficientalgorithm for the minimization of sequential transducers

Proceedings of the Eindhoven FASTAR Days 2004 : Eindhoven, The Netherlands, September 3-4, 2004

The Eindhoven FASTAR Days (EFD) 2004 were organized by the Software Construction group of the Department of Mathematics and Computer Science at the Technische Universiteit Eindhoven. On September 3rd and 4th 2004, over thirty participants|hailing from the Czech Republic, Finland, France, The Netherlands, Poland and South Africa|gathered at the Department to attend the EFD. The EFD were organized in connection with the research on finite automata by the FASTAR Research Group, which is centered in Eindhoven and at the University of Pretoria, South Africa. FASTAR (Finite Automata Systems|Theoretical and Applied Research) is an in- ternational research group that aims to lead in all areas related to finite state systems. The work in FASTAR includes both core and applied parts of this field. The EFD therefore focused on the field of finite automata, with an emphasis on practical aspects and applications. Eighteen presentations, mostly on subjects within this field, were given, by researchers as well as students from participating universities and industrial research facilities. This report contains the proceedings of the conference, in the form of papers for twelve of the presentations at the EFD. Most of them were initially reviewed and distributed as handouts during the EFD. After the EFD took place, the papers were revised for publication in these proceedings. We would like to thank the participants for their attendance and presentations, making the EFD 2004 as successful as they were. Based on this success, it is our intention to make the EFD into a recurring event. Eindhoven, December 2004 Loek Cleophas Bruce W. Watso

Proceedings of the Eindhoven FASTAR Days 2004 : Eindhoven, The Netherlands, September 3-4, 2004

The Eindhoven FASTAR Days (EFD) 2004 were organized by the Software Construction group of the Department of Mathematics and Computer Science at the Technische Universiteit Eindhoven. On September 3rd and 4th 2004, over thirty participants|hailing from the Czech Republic, Finland, France, The Netherlands, Poland and South Africa|gathered at the Department to attend the EFD. The EFD were organized in connection with the research on finite automata by the FASTAR Research Group, which is centered in Eindhoven and at the University of Pretoria, South Africa. FASTAR (Finite Automata Systems|Theoretical and Applied Research) is an in- ternational research group that aims to lead in all areas related to finite state systems. The work in FASTAR includes both core and applied parts of this field. The EFD therefore focused on the field of finite automata, with an emphasis on practical aspects and applications. Eighteen presentations, mostly on subjects within this field, were given, by researchers as well as students from participating universities and industrial research facilities. This report contains the proceedings of the conference, in the form of papers for twelve of the presentations at the EFD. Most of them were initially reviewed and distributed as handouts during the EFD. After the EFD took place, the papers were revised for publication in these proceedings. We would like to thank the participants for their attendance and presentations, making the EFD 2004 as successful as they were. Based on this success, it is our intention to make the EFD into a recurring event. Eindhoven, December 2004 Loek Cleophas Bruce W. Watso

Motion planning and control: a formal methods approach

Control of complex systems satisfying rich temporal specification has become an increasingly important research area in fields such as robotics, control, automotive, and manufacturing. Popular specification languages include temporal logics, such as Linear Temporal Logic (LTL) and Computational Tree Logic (CTL), which extend propositional logic to capture the temporal sequencing of system properties. The focus of this dissertation is on the control of high-dimensional systems and on timed specifications that impose explicit time bounds on the satisfaction of tasks. This work proposes and evaluates methods and algorithms for synthesizing provably correct control policies that deal with the scalability problems. Ideas and tools from formal verification, graph theory, and incremental computing are used to synthesize satisfying control strategies. Finite abstractions of the systems are generated, and then composed with automata encoding the specifications. The first part of this dissertation introduces a sampling-based motion planning algorithm that combines long-term temporal logic goals with short-term reactive requirements. The specification has two parts: (1) a global specification given as an LTL formula over a set of static service requests that occur at the regions of a known environment, and (2) a local specification that requires servicing a set of dynamic requests that can be sensed locally during the execution. The proposed computational framework consists of two main ingredients: (a) an off-line sampling-based algorithm for the construction of a global transition system that contains a path satisfying the LTL formula, and (b) an on-line sampling-based algorithm to generate paths that service the local requests, while making sure that the satisfaction of the global specification is not affected. The second part of the dissertation focuses on stochastic systems with temporal and uncertainty constraints. A specification language called Gaussian Distribution Temporal Logic is introduced as an extension of Boolean logic that incorporates temporal evolution and noise mitigation directly into the task specifications. A sampling-based algorithm to synthesize control policies is presented that generates a transition system in the belief space and uses local feedback controllers to break the curse of history associated with belief space planning. Switching control policies are then computed using a product Markov Decision Process between the transition system and the Rabin automaton encoding the specification.The approach is evaluated in experiments using a camera network and ground robot. The third part of this dissertation focuses on control of multi-vehicle systems with timed specifications and charging constraints. A rich expressivity language called Time Window Temporal Logic (TWTL) that describes time bounded specifications is introduced. The temporal relaxation of TWTL formulae with respect to the deadlines of tasks is also discussed. The key ingredient of the solution is an algorithm to translate a TWTL formula to an annotated finite state automaton that encodes all possible temporal relaxations of the given formula. The annotated automata are composed with transition systems encoding the motion of all vehicles, and with charging models to produce control strategies for all vehicles such that the overall system satisfies the mission specification. The methods are evaluated in simulation and experimental trials with quadrotors and charging stations