A Generic Framework for Reasoning about Dynamic Networks of Infinite-State Processes

We propose a framework for reasoning about unbounded dynamic networks of infinite-state processes. We propose Constrained Petri Nets (CPN) as generic models for these networks. They can be seen as Petri nets where tokens (representing occurrences of processes) are colored by values over some potentially infinite data domain such as integers, reals, etc. Furthermore, we define a logic, called CML (colored markings logic), for the description of CPN configurations. CML is a first-order logic over tokens allowing to reason about their locations and their colors. Both CPNs and CML are parametrized by a color logic allowing to express constraints on the colors (data) associated with tokens. We investigate the decidability of the satisfiability problem of CML and its applications in the verification of CPNs. We identify a fragment of CML for which the satisfiability problem is decidable (whenever it is the case for the underlying color logic), and which is closed under the computations of post and pre images for CPNs. These results can be used for several kinds of analysis such as invariance checking, pre-post condition reasoning, and bounded reachability analysis.Comment: 29 pages, 5 tables, 1 figure, extended version of the paper published in the the Proceedings of TACAS 2007, LNCS 442

Parameterized Verification of Safety Properties in Ad Hoc Network Protocols

We summarize the main results proved in recent work on the parameterized verification of safety properties for ad hoc network protocols. We consider a model in which the communication topology of a network is represented as a graph. Nodes represent states of individual processes. Adjacent nodes represent single-hop neighbors. Processes are finite state automata that communicate via selective broadcast messages. Reception of a broadcast is restricted to single-hop neighbors. For this model we consider a decision problem that can be expressed as the verification of the existence of an initial topology in which the execution of the protocol can lead to a configuration with at least one node in a certain state. The decision problem is parametric both on the size and on the form of the communication topology of the initial configurations. We draw a complete picture of the decidability and complexity boundaries of this problem according to various assumptions on the possible topologies.Comment: In Proceedings PACO 2011, arXiv:1108.145

A New Approach to Time-Optimal Path Parameterization based on Reachability Analysis

Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based methods are fast but difficult to implement and suffer from robustness issues, while CO-based approaches are more robust but at the same time significantly slower. Here we propose a new approach to TOPP based on Reachability Analysis (RA). The key insight is to recursively compute reachable and controllable sets at discretized positions on the path by solving small Linear Programs (LPs). The resulting algorithm is faster than NI-based methods and as robust as CO-based ones (100% success rate), as confirmed by extensive numerical evaluations. Moreover, the proposed approach offers unique additional benefits: Admissible Velocity Propagation and robustness to parametric uncertainty can be derived from it in a simple and natural way.Comment: 15 pages, 9 figure