Simulation of Rapidly-Exploring Random Trees in Membrane Computing with P-Lingua and Automatic Programming

Methods based on Rapidly-exploring Random Trees (RRTs) have been widely used in robotics to solve motion planning problems. On the other hand, in the membrane computing framework, models based on Enzymatic Numerical P systems (ENPS) have been applied to robot controllers, but today there is a lack of planning algorithms based on membrane computing for robotics. With this motivation, we provide a variant of ENPS called Random Enzymatic Numerical P systems with Proteins and Shared Memory (RENPSM) addressed to implement RRT algorithms and we illustrate it by simulating the bidirectional RRT algorithm. This paper is an extension of [21]a. The software presented in [21] was an ad-hoc simulator, i.e, a tool for simulating computations of one and only one model that has been hard-coded. The main contribution of this paper with respect to [21] is the introduction of a novel solution for membrane computing simulators based on automatic programming. First, we have extended the P-Lingua syntax –a language to define membrane computing models– to write RENPSM models. Second, we have implemented a new parser based on Flex and Bison to read RENPSM models and produce source code in C language for multicore processors with OpenMP. Finally, additional experiments are presented.Ministerio de Economía, Industria y Competitividad TIN2017-89842-

Simulation of Rapidly-Exploring Random Trees in Membrane Computing with P-Lingua and Automatic Programming

Methods based on Rapidly-exploring Random Trees (RRTs) have been widely used in robotics to solve motion planning problems. On the other hand, in the membrane computing framework, models based on Enzymatic Numerical P systems (ENPS) have been applied to robot controllers, but today there is a lack of planning algorithms based on membrane computing for robotics. With this motivation, we provide a variant of ENPS called Random Enzymatic Numerical P systems with Proteins and Shared Memory (RENPSM) addressed to implement RRT algorithms and we illustrate it by simulating the bidirectional RRT algorithm. This paper is an extension of [21]a. The software presented in [21] was an ad-hoc simulator, i.e, a tool for simulating computations of one and only one model that has been hard-coded. The main contribution of this paper with respect to [21] is the introduction of a novel solution for membrane computing simulators based on automatic programming. First, we have extended the P-Lingua syntax –a language to define membrane computing models– to write RENPSM models. Second, we have implemented a new parser based on Flex and Bison to read RENPSM models and produce source code in C language for multicore processors with OpenMP. Finally, additional experiments are presented

A new P-Lingua toolkit for agile development in membrane computing

Membrane computing is a massively parallel and non-deterministic bioinspired computing paradigm whose models are called P systems. Validating and testing such models is a challenge which is being overcome by developing simulators. Regardless of their heterogeneity, such simulators require to read and interpret the models to be simulated. To this end, P-Lingua is a high-level P system definition language which has been widely used in the last decade. The P-Lingua ecosystem includes not only the language, but also libraries and software tools for parsing and simulating membrane computing models. Each version of P-Lingua supported new types or variants of P systems. This leads to a shortcoming: Only a predefined list of variants can be used, thus making it difficult for researchers to study custom ones. Moreover, derivation modes cannot be user-defined, i.e, the way in which P system computations should be generated is determined by the simulation algorithm in the source code. The main contribution of this paper is a completely new design of the P-Lingua language, called P-Lingua 5, in which the user can define custom variants and derivation modes, among other improvements such as including procedural programming and simulation directives. It is worth mentioning that it has backward-compatibility with previous versions of the language. A completely new set of command-line tools is provided for parsing and simulating P-Lingua 5 files. Finally, several examples are included in this paper covering the most common P system types.Agencia Estatal de Investigación TIN2017-89842-