Sampling-Based Temporal Logic Path Planning

In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has three main features. First, it is incremental, in the sense that the procedure for finding a satisfying path at each iteration scales only with the number of new samples generated at that iteration. Second, the underlying graph is sparse, which guarantees the low complexity of the overall method. Third, it is probabilistically complete. Examples illustrating the usefulness and the performance of the method are included.Comment: 8 pages, 4 figures; extended version of the paper presented at IROS 201

Regular Languages meet Prefix Sorting

Indexing strings via prefix (or suffix) sorting is, arguably, one of the most successful algorithmic techniques developed in the last decades. Can indexing be extended to languages? The main contribution of this paper is to initiate the study of the sub-class of regular languages accepted by an automaton whose states can be prefix-sorted. Starting from the recent notion of Wheeler graph [Gagie et al., TCS 2017]-which extends naturally the concept of prefix sorting to labeled graphs-we investigate the properties of Wheeler languages, that is, regular languages admitting an accepting Wheeler finite automaton. Interestingly, we characterize this family as the natural extension of regular languages endowed with the co-lexicographic ordering: when sorted, the strings belonging to a Wheeler language are partitioned into a finite number of co-lexicographic intervals, each formed by elements from a single Myhill-Nerode equivalence class. Moreover: (i) We show that every Wheeler NFA (WNFA) with $n$ states admits an equivalent Wheeler DFA (WDFA) with at most $2n-1-|\Sigma|$ states that can be computed in $O(n^3)$ time. This is in sharp contrast with general NFAs. (ii) We describe a quadratic algorithm to prefix-sort a proper superset of the WDFAs, a $O(n\log n)$-time online algorithm to sort acyclic WDFAs, and an optimal linear-time offline algorithm to sort general WDFAs. By contribution (i), our algorithms can also be used to index any WNFA at the moderate price of doubling the automaton's size. (iii) We provide a minimization theorem that characterizes the smallest WDFA recognizing the same language of any input WDFA. The corresponding constructive algorithm runs in optimal linear time in the acyclic case, and in $O(n\log n)$ time in the general case. (iv) We show how to compute the smallest WDFA equivalent to any acyclic DFA in nearly-optimal time.Comment: added minimization theorems; uploaded submitted version; New version with new results (W-MH theorem, linear determinization), added author: Giovanna D'Agostin

Learning to Prove Safety over Parameterised Concurrent Systems (Full Version)

We revisit the classic problem of proving safety over parameterised concurrent systems, i.e., an infinite family of finite-state concurrent systems that are represented by some finite (symbolic) means. An example of such an infinite family is a dining philosopher protocol with any number n of processes (n being the parameter that defines the infinite family). Regular model checking is a well-known generic framework for modelling parameterised concurrent systems, where an infinite set of configurations (resp. transitions) is represented by a regular set (resp. regular transducer). Although verifying safety properties in the regular model checking framework is undecidable in general, many sophisticated semi-algorithms have been developed in the past fifteen years that can successfully prove safety in many practical instances. In this paper, we propose a simple solution to synthesise regular inductive invariants that makes use of Angluin's classic L* algorithm (and its variants). We provide a termination guarantee when the set of configurations reachable from a given set of initial configurations is regular. We have tested L* algorithm on standard (as well as new) examples in regular model checking including the dining philosopher protocol, the dining cryptographer protocol, and several mutual exclusion protocols (e.g. Bakery, Burns, Szymanski, and German). Our experiments show that, despite the simplicity of our solution, it can perform at least as well as existing semi-algorithms.Comment: Full version of FMCAD'17 pape

Should We Learn Probabilistic Models for Model Checking? A New Approach and An Empirical Study

Many automated system analysis techniques (e.g., model checking, model-based testing) rely on first obtaining a model of the system under analysis. System modeling is often done manually, which is often considered as a hindrance to adopt model-based system analysis and development techniques. To overcome this problem, researchers have proposed to automatically "learn" models based on sample system executions and shown that the learned models can be useful sometimes. There are however many questions to be answered. For instance, how much shall we generalize from the observed samples and how fast would learning converge? Or, would the analysis result based on the learned model be more accurate than the estimation we could have obtained by sampling many system executions within the same amount of time? In this work, we investigate existing algorithms for learning probabilistic models for model checking, propose an evolution-based approach for better controlling the degree of generalization and conduct an empirical study in order to answer the questions. One of our findings is that the effectiveness of learning may sometimes be limited.Comment: 15 pages, plus 2 reference pages, accepted by FASE 2017 in ETAP