27,129 research outputs found
Dense Piecewise Planar RGB-D SLAM for Indoor Environments
The paper exploits weak Manhattan constraints to parse the structure of
indoor environments from RGB-D video sequences in an online setting. We extend
the previous approach for single view parsing of indoor scenes to video
sequences and formulate the problem of recovering the floor plan of the
environment as an optimal labeling problem solved using dynamic programming.
The temporal continuity is enforced in a recursive setting, where labeling from
previous frames is used as a prior term in the objective function. In addition
to recovery of piecewise planar weak Manhattan structure of the extended
environment, the orthogonality constraints are also exploited by visual
odometry and pose graph optimization. This yields reliable estimates in the
presence of large motions and absence of distinctive features to track. We
evaluate our method on several challenging indoors sequences demonstrating
accurate SLAM and dense mapping of low texture environments. On existing TUM
benchmark we achieve competitive results with the alternative approaches which
fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS)
201
On the Complexity of ATL and ATL* Module Checking
Module checking has been introduced in late 1990s to verify open systems,
i.e., systems whose behavior depends on the continuous interaction with the
environment. Classically, module checking has been investigated with respect to
specifications given as CTL and CTL* formulas. Recently, it has been shown that
CTL (resp., CTL*) module checking offers a distinctly different perspective
from the better-known problem of ATL (resp., ATL*) model checking. In
particular, ATL (resp., ATL*) module checking strictly enhances the
expressiveness of both CTL (resp., CTL*) module checking and ATL (resp. ATL*)
model checking. In this paper, we provide asymptotically optimal bounds on the
computational cost of module checking against ATL and ATL*, whose upper bounds
are based on an automata-theoretic approach. We show that module-checking for
ATL is EXPTIME-complete, which is the same complexity of module checking
against CTL. On the other hand, ATL* module checking turns out to be
3EXPTIME-complete, hence exponentially harder than CTL* module checking.Comment: In Proceedings GandALF 2017, arXiv:1709.0176
Reasoning about XML with temporal logics and automata
We show that problems arising in static analysis of XML specifications and transformations can be dealt with using techniques similar to those developed for static analysis of programs. Many properties of interest in the XML context are related to navigation, and can be formulated in temporal logics for trees. We choose a logic that admits a simple single-exponential translation into unranked tree automata, in the spirit of the classical LTL-to-BĆ¼chi automata translation. Automata arising from this translation have a number of additional properties; in particular, they are convenient for reasoning about unary node-selecting queries, which are important in the XML context. We give two applications of such reasoning: one deals with a classical XML problem of reasoning about navigation in the presence of schemas, and the other relates to verifying security properties of XML views
Efficient Synthesis of Network Updates
Software-defined networking (SDN) is revolutionizing the networking industry,
but current SDN programming platforms do not provide automated mechanisms for
updating global configurations on the fly. Implementing updates by hand is
challenging for SDN programmers because networks are distributed systems with
hundreds or thousands of interacting nodes. Even if initial and final
configurations are correct, naively updating individual nodes can lead to
incorrect transient behaviors, including loops, black holes, and access control
violations. This paper presents an approach for automatically synthesizing
updates that are guaranteed to preserve specified properties. We formalize
network updates as a distributed programming problem and develop a synthesis
algorithm based on counterexample-guided search and incremental model checking.
We describe a prototype implementation, and present results from experiments on
real-world topologies and properties demonstrating that our tool scales to
updates involving over one-thousand nodes
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks
3D scene understanding is important for robots to interact with the 3D world
in a meaningful way. Most previous works on 3D scene understanding focus on
recognizing geometrical or semantic properties of the scene independently. In
this work, we introduce Data Associated Recurrent Neural Networks (DA-RNNs), a
novel framework for joint 3D scene mapping and semantic labeling. DA-RNNs use a
new recurrent neural network architecture for semantic labeling on RGB-D
videos. The output of the network is integrated with mapping techniques such as
KinectFusion in order to inject semantic information into the reconstructed 3D
scene. Experiments conducted on a real world dataset and a synthetic dataset
with RGB-D videos demonstrate the ability of our method in semantic 3D scene
mapping.Comment: Published in RSS 201
Hybrid SAT-Based Consistency Checking Algorithms for Simple Temporal Networks with Decisions
A Simple Temporal Network (STN) consists of time points modeling temporal events and constraints modeling the minimal and maximal temporal distance between them. A Simple Temporal Network with Decisions (STND) extends an STN by adding decision time points to model temporal plans with decisions. A decision time point is a special kind of time point that once executed allows for deciding a truth value for an associated Boolean proposition. Furthermore, STNDs label time points and constraints by conjunctions of literals saying for which scenarios (i.e., complete truth value assignments to the propositions) they are relevant. Thus, an STND models a family of STNs each obtained as a projection of the initial STND onto a scenario. An STND is consistent if there exists a consistent scenario (i.e., a scenario such that the corresponding STN projection is consistent). Recently, a hybrid SAT-based consistency checking algorithm (HSCC) was proposed to check the consistency of an STND. Unfortunately, that approach lacks experimental evaluation and does not allow for the synthesis of all consistent scenarios. In this paper, we propose an incremental HSCC algorithm for STNDs that (i) is faster than the previous one and (ii) allows for the synthesis of all consistent scenarios and related early execution schedules (offline temporal planning). Then, we carry out an experimental evaluation with KAPPA, a tool that we developed for STNDs. Finally, we prove that STNDs and disjunctive temporal networks (DTNs) are equivalent
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