Knowledge compilation for online decision-making : application to the control of autonomous systems = Compilation de connaissances pour la décision en ligne : application à la conduite de systèmes autonomes

La conduite de systèmes autonomes nécessite de prendre des décisions en fonction des observations et des objectifs courants : cela implique des tâches à effectuer en ligne, avec les moyens de calcul embarqués. Cependant, il s'agit généralement de tâches combinatoires, gourmandes en temps de calcul et en espace mémoire. Réaliser ces tâches intégralement en ligne dégrade la réactivité du système ; les réaliser intégralement hors ligne, en anticipant toutes les situations possibles, nuit à son embarquabilité. Les techniques de compilation de connaissances sont susceptibles d'apporter un compromis, en déportant au maximum l'effort de calcul avant la mise en situation du système. Ces techniques consistent à traduire un problème dans un certain langage, fournissant une forme compilée de ce problème, dont la résolution est facile et la taille aussi compacte que possible. La traduction peut être très longue, mais n'est effectuée qu'une seule fois, hors ligne. Il existe de nombreux langages-cible de compilation, notamment le langage des diagrammes de décision binaires (BDDs), qui ont été utilisés avec succès dans divers domaines (model-checking, configuration, planification). L'objectif de la thèse était d'étudier l'application de la compilation de connaissances à la conduite de systèmes autonomes. Nous nous sommes intéressés à des problèmes réels de planification, qui impliquent souvent des variables continues ou à grand domaine énuméré (temps ou mémoire par exemple). Nous avons orienté notre travail vers la recherche et l'étude de langages-cible de compilation assez expressifs pour permettre de représenter de tels problèmes.Controlling autonomous systems requires to make decisions depending on current observations and objectives. This involves some tasks that must be executed online-with the embedded computational power only. However, these tasks are generally combinatory; their computation is long and requires a lot of memory space. Entirely executing them online thus compromises the system's reactivity. But entirely executing them offline, by anticipating every possible situation, can lead to a result too large to be embedded. A tradeoff can be provided by knowledge compilation techniques, which shift as much as possible of the computational effort before the system's launching. These techniques consists in a translation of a problem into some language, obtaining a compiled form of the problem, which is both easy to solve and as compact as possible. The translation step can be very long, but it is only executed once, and offline. There are numerous target compilation languages, among which the language of binary decision diagrams (BDDs), which have been successfully used in various domains of artificial intelligence, such as model-checking, configuration, or planning. The objective of the thesis was to study how knowledge compilation could be applied to the control of autonomous systems. We focused on realistic planning problems, which often involve variables with continuous domains or large enumerated domains (such as time or memory space). We oriented our work towards the search for target compilation languages expressive enough to represent such problems

Tools and Algorithms for the Construction and Analysis of Systems

This book is Open Access under a CC BY licence. The LNCS 11427 and 11428 proceedings set constitutes the proceedings of the 25th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2019, which took place in Prague, Czech Republic, in April 2019, held as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2019. The total of 42 full and 8 short tool demo papers presented in these volumes was carefully reviewed and selected from 164 submissions. The papers are organized in topical sections as follows: Part I: SAT and SMT, SAT solving and theorem proving; verification and analysis; model checking; tool demo; and machine learning. Part II: concurrent and distributed systems; monitoring and runtime verification; hybrid and stochastic systems; synthesis; symbolic verification; and safety and fault-tolerant systems

Proceedings of the Second NASA Formal Methods Symposium

This publication contains the proceedings of the Second NASA Formal Methods Symposium sponsored by the National Aeronautics and Space Administration and held in Washington D.C. April 13-15, 2010. Topics covered include: Decision Engines for Software Analysis using Satisfiability Modulo Theories Solvers; Verification and Validation of Flight-Critical Systems; Formal Methods at Intel -- An Overview; Automatic Review of Abstract State Machines by Meta Property Verification; Hardware-independent Proofs of Numerical Programs; Slice-based Formal Specification Measures -- Mapping Coupling and Cohesion Measures to Formal Z; How Formal Methods Impels Discovery: A Short History of an Air Traffic Management Project; A Machine-Checked Proof of A State-Space Construction Algorithm; Automated Assume-Guarantee Reasoning for Omega-Regular Systems and Specifications; Modeling Regular Replacement for String Constraint Solving; Using Integer Clocks to Verify the Timing-Sync Sensor Network Protocol; Can Regulatory Bodies Expect Efficient Help from Formal Methods?; Synthesis of Greedy Algorithms Using Dominance Relations; A New Method for Incremental Testing of Finite State Machines; Verification of Faulty Message Passing Systems with Continuous State Space in PVS; Phase Two Feasibility Study for Software Safety Requirements Analysis Using Model Checking; A Prototype Embedding of Bluespec System Verilog in the PVS Theorem Prover; SimCheck: An Expressive Type System for Simulink; Coverage Metrics for Requirements-Based Testing: Evaluation of Effectiveness; Software Model Checking of ARINC-653 Flight Code with MCP; Evaluation of a Guideline by Formal Modelling of Cruise Control System in Event-B; Formal Verification of Large Software Systems; Symbolic Computation of Strongly Connected Components Using Saturation; Towards the Formal Verification of a Distributed Real-Time Automotive System; Slicing AADL Specifications for Model Checking; Model Checking with Edge-valued Decision Diagrams; and Data-flow based Model Analysis

The collaborative iterative search approach to multi agent path finding

PhD ThesisThis thesis presents a new approach to obtaining optimal and complete solutions to Multi Agent Path Finding (MAPF) problems called Collaborative Iterative Search (CIS). CIS employs a conflict based scheme inspired by the Conflict Based Search (CBS) algorithm and extends this to include a linear order lower level search. The structure of Planar Graphs is leveraged, permitting further optimization of the algorithm. This takes the form of reasoning-based culling of the search space, while maintaining optimality and completeness. Benchmarks provided demonstrate significant performance gains over the existing state of the art, particularly in the case of sparsely populated maps. The thesis draws to a conclusion with a summary of proposed future work

Integration of Logic and Probability in Terminological and Inductive Reasoning

This thesis deals with Statistical Relational Learning (SRL), a research area combining principles and ideas from three important subfields of Artificial Intelligence: machine learn- ing, knowledge representation and reasoning on uncertainty. Machine learning is the study of systems that improve their behavior over time with experience; the learning process typi- cally involves a search through various generalizations of the examples, in order to discover regularities or classification rules. A wide variety of machine learning techniques have been developed in the past fifty years, most of which used propositional logic as a (limited) represen- tation language. Recently, more expressive knowledge representations have been considered, to cope with a variable number of entities as well as the relationships that hold amongst them. These representations are mostly based on logic that, however, has limitations when reason- ing on uncertain domains. These limitations have been lifted allowing a multitude of different formalisms combining probabilistic reasoning with logics, databases or logic programming, where probability theory provides a formal basis for reasoning on uncertainty. In this thesis we consider in particular the proposals for integrating probability in Logic Programming, since the resulting probabilistic logic programming languages present very in- teresting computational properties. In Probabilistic Logic Programming, the so-called "dis- tribution semantics" has gained a wide popularity. This semantics was introduced for the PRISM language (1995) but is shared by many other languages: Independent Choice Logic, Stochastic Logic Programs, CP-logic, ProbLog and Logic Programs with Annotated Disjunc- tions (LPADs). A program in one of these languages defines a probability distribution over normal logic programs called worlds. This distribution is then extended to queries and the probability of a query is obtained by marginalizing the joint distribution of the query and the programs. The languages following the distribution semantics differ in the way they define the distribution over logic programs. The first part of this dissertation presents techniques for learning probabilistic logic pro- grams under the distribution semantics. Two problems are considered: parameter learning and structure learning, that is, the problems of inferring values for the parameters or both the structure and the parameters of the program from data. This work contributes an algorithm for parameter learning, EMBLEM, and two algorithms for structure learning (SLIPCASE and SLIPCOVER) of probabilistic logic programs (in particular LPADs). EMBLEM is based on the Expectation Maximization approach and computes the expectations directly on the Binary De- cision Diagrams that are built for inference. SLIPCASE performs a beam search in the space of LPADs while SLIPCOVER performs a beam search in the space of probabilistic clauses and a greedy search in the space of LPADs, improving SLIPCASE performance. All learning approaches have been evaluated in several relational real-world domains. The second part of the thesis concerns the field of Probabilistic Description Logics, where we consider a logical framework suitable for the Semantic Web. Description Logics (DL) are a family of formalisms for representing knowledge. Research in the field of knowledge repre- sentation and reasoning is usually focused on methods for providing high-level descriptions of the world that can be effectively used to build intelligent applications. Description Logics have been especially effective as the representation language for for- mal ontologies. Ontologies model a domain with the definition of concepts and their properties and relations. Ontologies are the structural frameworks for organizing information and are used in artificial intelligence, the Semantic Web, systems engineering, software engineering, biomedical informatics, etc. They should also allow to ask questions about the concepts and in- stances described, through inference procedures. Recently, the issue of representing uncertain information in these domains has led to probabilistic extensions of DLs. The contribution of this dissertation is twofold: (1) a new semantics for the Description Logic SHOIN(D) , based on the distribution semantics for probabilistic logic programs, which embeds probability; (2) a probabilistic reasoner for computing the probability of queries from uncertain knowledge bases following this semantics. The explanations of queries are encoded in Binary Decision Diagrams, with the same technique employed in the learning systems de- veloped for LPADs. This approach has been evaluated on a real-world probabilistic ontology

Data Storage and Dissemination in Pervasive Edge Computing Environments

Nowadays, smart mobile devices generate huge amounts of data in all sorts of gatherings. Much of that data has localized and ephemeral interest, but can be of great use if shared among co-located devices. However, mobile devices often experience poor connectivity, leading to availability issues if application storage and logic are fully delegated to a remote cloud infrastructure. In turn, the edge computing paradigm pushes computations and storage beyond the data center, closer to end-user devices where data is generated and consumed. Hence, enabling the execution of certain components of edge-enabled systems directly and cooperatively on edge devices. This thesis focuses on the design and evaluation of resilient and efficient data storage and dissemination solutions for pervasive edge computing environments, operating with or without access to the network infrastructure. In line with this dichotomy, our goal can be divided into two specific scenarios. The first one is related to the absence of network infrastructure and the provision of a transient data storage and dissemination system for networks of co-located mobile devices. The second one relates with the existence of network infrastructure access and the corresponding edge computing capabilities. First, the thesis presents time-aware reactive storage (TARS), a reactive data storage and dissemination model with intrinsic time-awareness, that exploits synergies between the storage substrate and the publish/subscribe paradigm, and allows queries within a specific time scope. Next, it describes in more detail: i) Thyme, a data storage and dis- semination system for wireless edge environments, implementing TARS; ii) Parsley, a flexible and resilient group-based distributed hash table with preemptive peer relocation and a dynamic data sharding mechanism; and iii) Thyme GardenBed, a framework for data storage and dissemination across multi-region edge networks, that makes use of both device-to-device and edge interactions. The developed solutions present low overheads, while providing adequate response times for interactive usage and low energy consumption, proving to be practical in a variety of situations. They also display good load balancing and fault tolerance properties.Resumo Hoje em dia, os dispositivos móveis inteligentes geram grandes quantidades de dados em todos os tipos de aglomerações de pessoas. Muitos desses dados têm interesse loca- lizado e efêmero, mas podem ser de grande utilidade se partilhados entre dispositivos co-localizados. No entanto, os dispositivos móveis muitas vezes experienciam fraca co- nectividade, levando a problemas de disponibilidade se o armazenamento e a lógica das aplicações forem totalmente delegados numa infraestrutura remota na nuvem. Por sua vez, o paradigma de computação na periferia da rede leva as computações e o armazena- mento para além dos centros de dados, para mais perto dos dispositivos dos utilizadores finais onde os dados são gerados e consumidos. Assim, permitindo a execução de certos componentes de sistemas direta e cooperativamente em dispositivos na periferia da rede. Esta tese foca-se no desenho e avaliação de soluções resilientes e eficientes para arma- zenamento e disseminação de dados em ambientes pervasivos de computação na periferia da rede, operando com ou sem acesso à infraestrutura de rede. Em linha com esta dico- tomia, o nosso objetivo pode ser dividido em dois cenários específicos. O primeiro está relacionado com a ausência de infraestrutura de rede e o fornecimento de um sistema efêmero de armazenamento e disseminação de dados para redes de dispositivos móveis co-localizados. O segundo diz respeito à existência de acesso à infraestrutura de rede e aos recursos de computação na periferia da rede correspondentes. Primeiramente, a tese apresenta armazenamento reativo ciente do tempo (ARCT), um modelo reativo de armazenamento e disseminação de dados com percepção intrínseca do tempo, que explora sinergias entre o substrato de armazenamento e o paradigma pu- blicação/subscrição, e permite consultas num escopo de tempo específico. De seguida, descreve em mais detalhe: i) Thyme, um sistema de armazenamento e disseminação de dados para ambientes sem fios na periferia da rede, que implementa ARCT; ii) Pars- ley, uma tabela de dispersão distribuída flexível e resiliente baseada em grupos, com realocação preventiva de nós e um mecanismo de particionamento dinâmico de dados; e iii) Thyme GardenBed, um sistema para armazenamento e disseminação de dados em redes multi-regionais na periferia da rede, que faz uso de interações entre dispositivos e com a periferia da rede. As soluções desenvolvidas apresentam baixos custos, proporcionando tempos de res- posta adequados para uso interativo e baixo consumo de energia, demonstrando serem práticas nas mais diversas situações. Estas soluções também exibem boas propriedades de balanceamento de carga e tolerância a faltas

Light On String Solving: Approaches to Efficiently and Correctly Solving String Constraints

Widespread use of string solvers in formal analysis of string-heavy programs has led to a growing demand for more efficient and reliable techniques which can be applied in this context, especially for real-world cases. Designing an algorithm for the (generally undecidable) satisfiability problem for systems of string constraints requires a thorough understanding of the structure of constraints present in the targeted cases. We target the aforementioned case in different perspectives: We present an algorithm which works by reformulating the satisfiability of bounded word equations as a reachability problem for non-deterministic finite automata. Secondly, we present a transformation-system-based technique to solving string constraints. Thirdly, we investigate benchmarks presented in the literature containing regular expression membership predicates and design a decission procedure for a PSPACE-complete sub-theory. Additionally, we introduce a new benchmarking framework for string solvers and use it to showcase the power of our algorithms via an extensive empirical evaluation over a diverse set of benchmarks