94 research outputs found
LIPIcs
We consider Markov decision processes (MDPs) with specifications given as Büchi (liveness) objectives. We consider the problem of computing the set of almost-sure winning vertices from where the objective can be ensured with probability 1. We study for the first time the average case complexity of the classical algorithm for computing the set of almost-sure winning vertices for MDPs with Büchi objectives. Our contributions are as follows: First, we show that for MDPs with constant out-degree the expected number of iterations is at most logarithmic and the average case running time is linear (as compared to the worst case linear number of iterations and quadratic time complexity). Second, for the average case analysis over all MDPs we show that the expected number of iterations is constant and the average case running time is linear (again as compared to the worst case linear number of iterations and quadratic time complexity). Finally we also show that given that all MDPs are equally likely, the probability that the classical algorithm requires more than constant number of iterations is exponentially small
Decision Problems for Nash Equilibria in Stochastic Games
We analyse the computational complexity of finding Nash equilibria in
stochastic multiplayer games with -regular objectives. While the
existence of an equilibrium whose payoff falls into a certain interval may be
undecidable, we single out several decidable restrictions of the problem.
First, restricting the search space to stationary, or pure stationary,
equilibria results in problems that are typically contained in PSPACE and NP,
respectively. Second, we show that the existence of an equilibrium with a
binary payoff (i.e. an equilibrium where each player either wins or loses with
probability 1) is decidable. We also establish that the existence of a Nash
equilibrium with a certain binary payoff entails the existence of an
equilibrium with the same payoff in pure, finite-state strategies.Comment: 22 pages, revised versio
Lower Bounds for Symbolic Computation on Graphs: Strongly Connected Components, Liveness, Safety, and Diameter
A model of computation that is widely used in the formal analysis of reactive
systems is symbolic algorithms. In this model the access to the input graph is
restricted to consist of symbolic operations, which are expensive in comparison
to the standard RAM operations. We give lower bounds on the number of symbolic
operations for basic graph problems such as the computation of the strongly
connected components and of the approximate diameter as well as for fundamental
problems in model checking such as safety, liveness, and co-liveness. Our lower
bounds are linear in the number of vertices of the graph, even for
constant-diameter graphs. For none of these problems lower bounds on the number
of symbolic operations were known before. The lower bounds show an interesting
separation of these problems from the reachability problem, which can be solved
with symbolic operations, where is the diameter of the graph.
Additionally we present an approximation algorithm for the graph diameter
which requires symbolic steps to achieve a
-approximation for any constant . This compares to
symbolic steps for the (naive) exact algorithm and
symbolic steps for a 2-approximation. Finally we also give a refined analysis
of the strongly connected components algorithms of Gentilini et al., showing
that it uses an optimal number of symbolic steps that is proportional to the
sum of the diameters of the strongly connected components
Provably-Correct Task Planning for Autonomous Outdoor Robots
Autonomous outdoor robots should be able to accomplish complex tasks safely and reliably while considering constraints that arise from both the environment and the physical platform. Such tasks extend basic navigation capabilities to specify a sequence of events over time. For example, an autonomous aerial vehicle can be given a surveillance task with contingency plans while complying with rules in regulated airspace, or an autonomous ground robot may need to guarantee a given probability of success while searching for the quickest way to complete the mission. A promising approach for the automatic synthesis of trusted controllers for complex tasks is to employ techniques from formal methods. In formal methods, tasks are formally specified symbolically with temporal logic. The robot then synthesises a controller automatically to execute trusted behaviour that guarantees the satisfaction of specified tasks and regulations. However, a difficulty arises from the lack of expressivity, which means the constraints affecting outdoor robots cannot be specified naturally with temporal logic. The goal of this thesis is to extend the capabilities of formal methods to express the constraints that arise from outdoor applications and synthesise provably-correct controllers with trusted behaviours over time. This thesis focuses on two important types of constraints, resource and safety constraints, and presents three novel algorithms that express tasks with these constraints and synthesise controllers that satisfy the specification. Firstly, this thesis proposes an extension to probabilistic computation tree logic (PCTL) called resource threshold PCTL (RT-PCTL) that naturally defines the mission specification with continuous resource threshold constraints; furthermore, it synthesises an optimal control policy with respect to the probability of success. With RT-PCTL, a state with accumulated resource out of the specified bound is considered to be failed or saturated depending on the specification. The requirements on resource bounds are naturally encoded in the symbolic specification, followed by the automatic synthesis of an optimal controller with respect to the probability of success. Secondly, the thesis proposes an online algorithm called greedy Buchi algorithm (GBA) that reduces the synthesis problem size to avoid the scalability problem. A framework is then presented with realistic control dynamics and physical assumptions in the environment such as wind estimation and fuel constraints. The time and space complexity for the framework is polynomial in the size of the system state, which is efficient for online synthesis. Lastly, the thesis proposes a synthesis algorithm for an optimal controller with respect to completion time given the minimum safety constraints. The algorithm naturally balances between completion time and safety. This work proves an analytical relationship between the probability of success and the conditional completion time given the mission specification. The theoretical contributions in this thesis are validated through realistic simulation examples. This thesis identifies and solves two core problems that contribute to the overall vision of developing a theoretical basis for trusted behaviour in outdoor robots. These contributions serve as a foundation for further research in multi-constrained task planning where a number of different constraints are considered simultaneously within a single framework
IST Austria Thesis
This dissertation concerns the automatic verification of probabilistic systems and programs with arrays by statistical and logical methods. Although statistical and logical methods are different in nature, we show that they can be successfully combined for system analysis. In the first part of the dissertation we present a new statistical algorithm for the verification of probabilistic systems with respect to unbounded properties, including linear temporal logic. Our algorithm often performs faster than the previous approaches, and at the same time requires less information about the system. In addition, our method can be generalized to unbounded quantitative properties such as mean-payoff bounds. In the second part, we introduce two techniques for comparing probabilistic systems. Probabilistic systems are typically compared using the notion of equivalence, which requires the systems to have the equal probability of all behaviors. However, this notion is often too strict, since probabilities are typically only empirically estimated, and any imprecision may break the relation between processes. On the one hand, we propose to replace the Boolean notion of equivalence by a quantitative distance of similarity. For this purpose, we introduce a statistical framework for estimating distances between Markov chains based on their simulation runs, and we investigate which distances can be approximated in our framework. On the other hand, we propose to compare systems with respect to a new qualitative logic, which expresses that behaviors occur with probability one or a positive probability. This qualitative analysis is robust with respect to modeling errors and applicable to many domains. In the last part, we present a new quantifier-free logic for integer arrays, which allows us to express counting. Counting properties are prevalent in array-manipulating programs, however they cannot be expressed in the quantified fragments of the theory of arrays. We present a decision procedure for our logic, and provide several complexity results
Finite-State Abstractions for Probabilistic Computation Tree Logic
Probabilistic Computation Tree Logic (PCTL) is the established temporal
logic for probabilistic verification of discrete-time Markov chains. Probabilistic
model checking is a technique that verifies or refutes whether a property
specified in this logic holds in a Markov chain. But Markov chains are often
infinite or too large for this technique to apply. A standard solution to
this problem is to convert the Markov chain to an abstract model and to
model check that abstract model. The problem this thesis therefore studies
is whether or when such finite abstractions of Markov chains for model
checking PCTL exist.
This thesis makes the following contributions. We identify a sizeable fragment
of PCTL for which 3-valued Markov chains can serve as finite abstractions;
this fragment is maximal for those abstractions and subsumes many
practically relevant specifications including, e.g., reachability. We also develop
game-theoretic foundations for the semantics of PCTL over Markov
chains by capturing the standard PCTL semantics via a two-player games.
These games, finally, inspire a notion of p-automata, which accept entire
Markov chains. We show that p-automata subsume PCTL and Markov
chains; that their languages of Markov chains have pleasant closure properties;
and that the complexity of deciding acceptance matches that of probabilistic
model checking for p-automata representing PCTL formulae. In addition,
we offer a simulation between p-automata that under-approximates
language containment. These results then allow us to show that p-automata
comprise a solution to the problem studied in this thesis
The Complexity of Nash Equilibria in Stochastic Multiplayer Games
We analyse the computational complexity of finding Nash equilibria in
turn-based stochastic multiplayer games with omega-regular objectives. We show
that restricting the search space to equilibria whose payoffs fall into a
certain interval may lead to undecidability. In particular, we prove that the
following problem is undecidable: Given a game G, does there exist a Nash
equilibrium of G where Player 0 wins with probability 1? Moreover, this problem
remains undecidable when restricted to pure strategies or (pure) strategies
with finite memory. One way to obtain a decidable variant of the problem is to
restrict the strategies to be positional or stationary. For the complexity of
these two problems, we obtain a common lower bound of NP and upper bounds of NP
and PSPACE respectively. Finally, we single out a special case of the general
problem that, in many cases, admits an efficient solution. In particular, we
prove that deciding the existence of an equilibrium in which each player either
wins or loses with probability 1 can be done in polynomial time for games where
the objective of each player is given by a parity condition with a bounded
number of priorities
Model Checking Concurrent Programs with Nondeterminism and Randomization
For concurrent probabilistic programs having process-level nondeterminism, it is often necessary to restrict the class of schedulers that resolve nondeterminism to obtain sound and precise model checking algorithms. In this paper, we introduce two classes of schedulers called view consistent and locally Markovian schedulers and consider the model checking problem of concurrent, probabilistic programs under these alternate semantics. Specifically, given a B"{u}chi automaton , a threshold in , and a concurrent program , the model checking problem asks if the measure of computations of that satisfy is at least , under all view consistent (or locally Markovian) schedulers. We give precise complexity results for the model checking problem (for different classes of B"{u}chi automata specifications) and contrast it with the complexity under the standard semantics that considers all schedulers
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