794 research outputs found
Permissive Controller Synthesis for Probabilistic Systems
We propose novel controller synthesis techniques for probabilistic systems
modelled using stochastic two-player games: one player acts as a controller,
the second represents its environment, and probability is used to capture
uncertainty arising due to, for example, unreliable sensors or faulty system
components. Our aim is to generate robust controllers that are resilient to
unexpected system changes at runtime, and flexible enough to be adapted if
additional constraints need to be imposed. We develop a permissive controller
synthesis framework, which generates multi-strategies for the controller,
offering a choice of control actions to take at each time step. We formalise
the notion of permissivity using penalties, which are incurred each time a
possible control action is disallowed by a multi-strategy. Permissive
controller synthesis aims to generate a multi-strategy that minimises these
penalties, whilst guaranteeing the satisfaction of a specified system property.
We establish several key results about the optimality of multi-strategies and
the complexity of synthesising them. Then, we develop methods to perform
permissive controller synthesis using mixed integer linear programming and
illustrate their effectiveness on a selection of case studies
Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
This paper presents a fully automated procedure for controller synthesis for
multi-agent systems under the presence of uncertainties. We model the motion of
each of the agents in the environment as a Markov Decision Process (MDP)
and we assign to each agent one individual high-level formula given in
Probabilistic Computational Tree Logic (PCTL). Each agent may need to
collaborate with other agents in order to achieve a task. The collaboration is
imposed by sharing actions between the agents. We aim to design local control
policies such that each agent satisfies its individual PCTL formula. The
proposed algorithm builds on clustering the agents, MDP products construction
and controller policies design. We show that our approach has better
computational complexity than the centralized case, which traditionally suffers
from very high computational demands.Comment: IFAC WC 2017, Toulouse, Franc
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
Permissive strategies in timed automata and games
Timed automata are a convenient framework for modelling and reasoning about real-time systems. While these models are now well-understood, they do not offer a convenient way of taking timing imprecisions into account. Several solutions (e.g. parametric guard enlargement) have been proposed over the last ten years to take such imprecisions into account. In this paper, we propose a novel approach for handling robust reachability, based on permissive strategies. While classical strategies propose to play an action at an exact point in time, permissive strategies consider intervals of possible dates when to play the selected action. In other words, the controller specifies an interval of time delays for actions to be executed in a more flexible way. With such a permissive strategy, we associate a penalty, which is the inverse of the length of the proposed interval, and accumulates along the run. We show that in that setting, optimal strategies can be computed in polynomial time for one-clock timed automata
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