The cyclic-routing UAV problem is PSPACE-complete

© 2015, Springer-Verlag Berlin Heidelberg. Consider a finite set of targets, with each target assigned a relative deadline, and each pair of targets assigned a fixed transit flight time. Given a flock of identical UAVs, can one ensure that every target is repeatedly visited by some UAV at intervals of duration at most the target’s relative deadline? The Cyclic-Routing UAV Problem (cr-uav) is the question of whether this task has a solution. This problem can straightforwardly be solved in PSPACE by modelling it as a network of timed automata. The special case of there being a single UAV is claimed to be NP-complete in the literature. In this paper, we show that the cr-uav Problem is in fact PSPACE-complete even in the single-UAV case

Cyclic-routing of Unmanned Aerial Vehicles

© 2019 Various missions carried out by Unmanned Aerial Vehicles (UAVs) are concerned with permanent monitoring of a predefined set of ground targets under relative deadline constraints, i.e., the targets have to be revisited ‘indefinitely’ and there is an upper bound on the time between two consecutive successful scans of each target. A solution to the problem is a set of routes—one for each UAV—that jointly satisfy these constraints. Our goal is to find a solution with the least number of UAVs. We show that the decision version of the problem (given k, is there a solution with k UAVs?) is PSPACE-complete. On the practical side, we propose a portfolio approach that combines the strengths of constraint solving and model checking. We present an empirical evaluation of the different solution methods on several hundred randomly generated instances

On the equivalence, containment, and covering problems for the regular and context-free languages

We consider the complexity of the equivalence and containment problems for regular expressions and context-free grammars, concentrating on the relationship between complexity and various language properties. Finiteness and boundedness of languages are shown to play important roles in the complexity of these problems. An encoding into grammars of Turing machine computations exponential in the size of the grammar is used to prove several exponential lower bounds. These lower bounds include exponential time for testing equivalence of grammars generating finite sets, and exponential space for testing equivalence of non-self-embedding grammars. Several problems which might be complex because of this encoding are shown to simplify for linear grammars. Other problems considered include grammatical covering and structural equivalence for right-linear, linear, and arbitrary grammars

Transducers based on networks of evolutionary processors LOS FINANCIADORES NO ESTÁN BIEN

We consider a new type of transducer that does not scan sequentially the input word. Instead, it consists of a directed graph whose nodes are processors which work in parallel and are specialized in just one type of a very simple evolutionary operation: inserting, deleting or substituting a symbol by another one. The computation on an input word starts with this word placed in a designated node, the input node, of the network an alternates evolutionary and communication steps. The computation halts as soon as another designated node, the output node, is nonempty. The translation of the input word is the set of words existing in the output node when the computation halts. We prove that these transducers can simulate the work of generalized sequential machines on every input. Furthermore, all words obtained by a given generalized sequential machine by the shortest computations on a given word can also be computed by the new transducers. Unlike the case of generalized sequential machines, every recursively enumerable language can be the transduction de?ned by the new transducer of a very simple regular language. The same idea may be used for proving that these transducers can simulate the shortest computations of an arbitrary Turing machine, used as a transducer, on every input word. Finally, we consider a restricted variant of NEP transducer, namely pure NEP transducers and prove that there are still regular languages whose pure NEP transductions are not semilinear

Computer Aided Verification

This open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency

Computer Aided Verification

This open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency

Optimal planning with temporal logic specifications

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Includes bibliographical references (p. 117-121).Most of the current uninhabitated Aerial Vehicles (UAVs) are individually monitored, commanded and controlled by several operators of different expertise. However, looking forward, there has been a recent interest in multiple-UAV systems, in which the system is only provided with the high-level goals and constraints, called the "mission specifications," and asked to navigate the UAVs such that the mission specifications are fulfilled. A crucial part in designing such multiple-UAV systems is the development of coordination and planning algorithms that, given a set of high-level mission specifications as input, can synthesize provably correct and possibly optimal schedules for each of the UAVs. This thesis studies optimal planning problems in a multiple-UAV mission planning setting, where the mission specifications are given in formal languages. The problem is posed as a novel variant of the Vehicle Routing Problem (VRP), in which temporal logics and process algebra are utilized to represent a large class of mission specifications in a systematic way. The thesis is structured in two parts. In the first part, two temporal logics that are remarkably close to the natural language, namely the linear temporal logic LTL-x and the metric temporal logic (MTL), are considered for specification of a large class of temporal and logical constraints in VRPs. Mixed-integer linear programming based algorithms, which solve these variants of the VRP to optimality, are presented. In the second part, process algebra is introduced and used as a candidate for the same purpose.(cont.) A tree search based anytime algorithm is given; this algorithm is guarranteed to find a best-first feasible solution in polynomial time and improve it to an optimal one in finite time.by Sertac Karaman.S.M