3,567 research outputs found

    Qualitative Analysis of POMDPs with Temporal Logic Specifications for Robotics Applications

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    We consider partially observable Markov decision processes (POMDPs), that are a standard framework for robotics applications to model uncertainties present in the real world, with temporal logic specifications. All temporal logic specifications in linear-time temporal logic (LTL) can be expressed as parity objectives. We study the qualitative analysis problem for POMDPs with parity objectives that asks whether there is a controller (policy) to ensure that the objective holds with probability 1 (almost-surely). While the qualitative analysis of POMDPs with parity objectives is undecidable, recent results show that when restricted to finite-memory policies the problem is EXPTIME-complete. While the problem is intractable in theory, we present a practical approach to solve the qualitative analysis problem. We designed several heuristics to deal with the exponential complexity, and have used our implementation on a number of well-known POMDP examples for robotics applications. Our results provide the first practical approach to solve the qualitative analysis of robot motion planning with LTL properties in the presence of uncertainty

    COST Action IC 1402 ArVI: Runtime Verification Beyond Monitoring -- Activity Report of Working Group 1

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    This report presents the activities of the first working group of the COST Action ArVI, Runtime Verification beyond Monitoring. The report aims to provide an overview of some of the major core aspects involved in Runtime Verification. Runtime Verification is the field of research dedicated to the analysis of system executions. It is often seen as a discipline that studies how a system run satisfies or violates correctness properties. The report exposes a taxonomy of Runtime Verification (RV) presenting the terminology involved with the main concepts of the field. The report also develops the concept of instrumentation, the various ways to instrument systems, and the fundamental role of instrumentation in designing an RV framework. We also discuss how RV interplays with other verification techniques such as model-checking, deductive verification, model learning, testing, and runtime assertion checking. Finally, we propose challenges in monitoring quantitative and statistical data beyond detecting property violation

    A Review on Sensor Node Placement Techniques in Wireless Sensor Networks

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    One way to provide Wireless Sensor Network (WSN) with maximum coverage, maximum connectivity, minimum deployment cost and minimum energy consumption is through an effective planning mechanism in arranging an optimum number of sensor nodes. Proper planning will provide a cost-effective deployment by having optimal placements for the sensor nodes. Sensor node placement schemes are needed to accommodate the balance of coverage and energy consumption since closer sensor nodes not only reduces the energy consumption but will result in the network coverage becoming smaller. This paper critically reviews the research and development work done in sensor node placement. Based on the review, the design objectives that need to be considered are identified. Most of the work reviewed focused on two or three design objectives

    Cellular Automata Applications in Shortest Path Problem

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    Cellular Automata (CAs) are computational models that can capture the essential features of systems in which global behavior emerges from the collective effect of simple components, which interact locally. During the last decades, CAs have been extensively used for mimicking several natural processes and systems to find fine solutions in many complex hard to solve computer science and engineering problems. Among them, the shortest path problem is one of the most pronounced and highly studied problems that scientists have been trying to tackle by using a plethora of methodologies and even unconventional approaches. The proposed solutions are mainly justified by their ability to provide a correct solution in a better time complexity than the renowned Dijkstra's algorithm. Although there is a wide variety regarding the algorithmic complexity of the algorithms suggested, spanning from simplistic graph traversal algorithms to complex nature inspired and bio-mimicking algorithms, in this chapter we focus on the successful application of CAs to shortest path problem as found in various diverse disciplines like computer science, swarm robotics, computer networks, decision science and biomimicking of biological organisms' behaviour. In particular, an introduction on the first CA-based algorithm tackling the shortest path problem is provided in detail. After the short presentation of shortest path algorithms arriving from the relaxization of the CAs principles, the application of the CA-based shortest path definition on the coordinated motion of swarm robotics is also introduced. Moreover, the CA based application of shortest path finding in computer networks is presented in brief. Finally, a CA that models exactly the behavior of a biological organism, namely the Physarum's behavior, finding the minimum-length path between two points in a labyrinth is given.Comment: To appear in the book: Adamatzky, A (Ed.) Shortest path solvers. From software to wetware. Springer, 201

    Cobertura Fornecendo em Redes de Sensores Direcionais através de Algoritmos de Aprendizagem (Autômatos de Aprendizagem)

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    Today, wireless sensor networks due to application development are widely used. There are significant issues in these networks; they can be more effective if they would be fixed. One of these problems is the low coverage of these networks due to their low power. If coverage increases only by increasing the power of sending and receiving power, it can increase network consumption as a catastrophic disaster, while the lack of energy is one of the most important constraints on these networks. To do this, the antenna coverage is oriented in some sensor networks to cover the most important places. This method tries to improves the efficiency and coverage of directional sensor networks by providing a mechanism based on the learning algorithm of the machine called learning automata. Results show this method outperform the before methods at least 20%.Hoy en día, las redes de sensores inalámbricos debido al desarrollo de aplicaciones son ampliamente utilizadas. Hay problemas importantes en estas redes; pueden ser más efectivos si se solucionan. Uno de estos problemas es la baja cobertura de estas redes debido a su baja potencia. Si la cobertura aumenta solo elevando la potencia de envío y recepción de energía, puede aumentar el consumo de red como un desastre catastrófico, mientras que la falta de energía es una de las limitaciones más importantes de estas redes. Para hacer esto, la cobertura de la antena está orientada en algunas redes de sensores para cubrir los lugares más importantes. Este método intenta mejorar la eficiencia y la cobertura de las redes de sensores direccionales al proporcionar un mecanismo basado en el algoritmo de aprendizaje de la máquina denominado autómatas de aprendizaje. Los resultados muestran que este método supera los métodos anteriores al menos un 20%.Hoy en día, as redes de sensores inalámbricos debitaram o desenvolvimento de aplicações sonoras extensamente utilizadas. Obras do feno importantes nas redes; pueden ser más effectivos e se solucionan. Uns de esos protes es la baja cobertura de es redes debido a su baja potencia. Se a porta leva sozinho a aumentar a potência de envio e a recepção de energia, aumentar o consumo de energia como um desastre catastrófico, a falta de energia de energia é uma das limitações mais importantes destas redes. Para hacer esto, a cobertura da antena está orientada nas algunas redes de sensores para cubrir os lugares mais importantes. This method intenta mejor a eficiencia and the coverage of the networks of sensors directionals are provided in engine based on the algorithm of aprendizado of the machine denominado autómatas de aprendizaje. Los resultados muestran que este método supera os métodos anteriores a menos de 20%

    A Survey on IT-Techniques for a Dynamic Emergency Management in Large Infrastructures

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    This deliverable is a survey on the IT techniques that are relevant to the three use cases of the project EMILI. It describes the state-of-the-art in four complementary IT areas: Data cleansing, supervisory control and data acquisition, wireless sensor networks and complex event processing. Even though the deliverable’s authors have tried to avoid a too technical language and have tried to explain every concept referred to, the deliverable might seem rather technical to readers so far little familiar with the techniques it describes
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