Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.Comment: Full Version for ECC 201

Universal quantum modifications to general relativistic time dilation in delocalised clocks

The theory of relativity associates a proper time with each moving object via its world line. In quantum theory however, such well-defined trajectories are forbidden. After introducing a general characterisation of quantum clocks, we demonstrate that, in the weak-field, low-velocity limit, all "good" quantum clocks experience time dilation as dictated by general relativity when their state of motion is classical (i.e. Gaussian). For nonclassical states of motion, on the other hand, we find that quantum interference effects may give rise to a significant discrepancy between the proper time and the time measured by the clock. The universality of this discrepancy implies that it is not simply a systematic error, but rather a quantum modification to the proper time itself. We also show how the clock's delocalisation leads to a larger uncertainty in the time it measures -- a consequence of the unavoidable entanglement between the clock time and its center-of-mass degrees of freedom. We demonstrate how this lost precision can be recovered by performing a measurement of the clock's state of motion alongside its time reading.Comment: 7 + 10 pages. V3: accepted versio

On the decidability and complexity of Metric Temporal Logic over finite words

Metric Temporal Logic (MTL) is a prominent specification formalism for real-time systems. In this paper, we show that the satisfiability problem for MTL over finite timed words is decidable, with non-primitive recursive complexity. We also consider the model-checking problem for MTL: whether all words accepted by a given Alur-Dill timed automaton satisfy a given MTL formula. We show that this problem is decidable over finite words. Over infinite words, we show that model checking the safety fragment of MTL--which includes invariance and time-bounded response properties--is also decidable. These results are quite surprising in that they contradict various claims to the contrary that have appeared in the literature

Histories quantisation of parameterised systems: I. Development of a general algorithm

We develop a new algorithm for the quantisation of systems with first-class constraints. Our approach lies within the (History Projection Operator) continuous-time histories quantisation programme. In particular, the Hamiltonian treatment (either classical or quantum) of parameterised systems is characterised by the loss of the notion of time in the space of true degrees of freedom (i.e. the `problem of time'). The novel temporal structure of the HPO theory (two laws of time transformation that distinguish between the temporal logical structure and the dynamics) persists after the imposition of the constraints, hence the problem of time does not arise. We expound the algorithm for both the classical and quantum cases and apply it to simple models.Comment: 34 pages, Late

On Zone-Based Analysis of Duration Probabilistic Automata

We propose an extension of the zone-based algorithmics for analyzing timed automata to handle systems where timing uncertainty is considered as probabilistic rather than set-theoretic. We study duration probabilistic automata (DPA), expressing multiple parallel processes admitting memoryfull continuously-distributed durations. For this model we develop an extension of the zone-based forward reachability algorithm whose successor operator is a density transformer, thus providing a solution to verification and performance evaluation problems concerning acyclic DPA (or the bounded-horizon behavior of cyclic DPA).Comment: In Proceedings INFINITY 2010, arXiv:1010.611

Deciding the Satisfiability of MITL Specifications

In this paper we present a satisfiability-preserving reduction from MITL interpreted over finitely-variable continuous behaviors to Constraint LTL over clocks, a variant of CLTL that is decidable, and for which an SMT-based bounded satisfiability checker is available. The result is a new complete and effective decision procedure for MITL. Although decision procedures for MITL already exist, the automata-based techniques they employ appear to be very difficult to realize in practice, and, to the best of our knowledge, no implementation currently exists for them. A prototype tool for MITL based on the encoding presented here has, instead, been implemented and is publicly available.Comment: In Proceedings GandALF 2013, arXiv:1307.416

OUTLINE OF A GENERALLY COVARIANT QUANTUM FIELD THEORY AND A QUANTUM THEORY OF GRAVITY

We study a tentative generally covariant quantum field theory, denoted the T-Theory, as a tool to investigate the consistency of quantum general relativity. The theory describes the gravitational field and a minimally coupled scalar field; it is based on the loop representation, and on a certain number of quantization choices. Four-dimensional diffeomorphism-invariant quantum transition probabilities can be computed from the theory. We present the explicit calculation of the transition probability between two volume eigenstates as an example. We discuss the choices on which the T-theory relies, and the possibilities of modifying them.Comment: Latex file, 33 page

Autonomous Ticking Clocks from Axiomatic Principles

There are many different types of time keeping devices. We use the phrase ticking clock to describe those which -- simply put -- "tick" at approximately regular intervals. Various important results have been derived for ticking clocks, and more are in the pipeline. It is thus important to understand the underlying models on which these results are founded. The aim of this paper is to introduce a new ticking clock model from axiomatic principles that overcomes concerns in the community about the physicality of the assumptions made in previous models. The ticking clock model in [arXiv:1806.00491] achieves high accuracy, yet lacks the autonomy of the less accurate model in [10.1103/PhysRevX.7.031022]. Importantly, the model we introduce here achieves the best of both models: it retains the autonomy of [10.1103/PhysRevX.7.031022] while allowing for the high accuracies of [arXiv:1806.00491]. What is more, [10.1103/PhysRevX.7.031022] is revealed to be a special case of the new ticking clock model.Comment: 14 + 14 page

Analog Property Checkers: A Ddr2 Case Study

The formal specification component of verification can be exported to simulation through the idea of property checkers. The essence of this approach is the automatic construction of an observer from the specification in the form of a program that can be interfaced with a simulator and alert the user if the property is violated by a simulation trace. Although not complete, this lighter approach to formal verification has been effectively used in software and digital hardware to detect errors. Recently, the idea of property checkers has been extended to analog and mixed-signal systems. In this paper, we apply the property-based checking methodology to an industrial and realistic example of a DDR2 memory interface. The properties describing the DDR2 analog behavior are expressed in the formal specification language stl/psl in form of assertions. The simulation traces generated from an actual DDR2 interface design are checked with respect to the stl/psl assertions using the amt tool. The focus of this paper is on the translation of the official (informal and descriptive) specification of two non-trivial DDR2 properties into stl/psl assertions. We study both the benefits and the current limits of such approach

Logics of Temporal-Epistemic Actions

We present Dynamic Epistemic Temporal Logic, a framework for reasoning about operations on multi-agent Kripke models that contain a designated temporal relation. These operations are natural extensions of the well-known "action models" from Dynamic Epistemic Logic. Our "temporal action models" may be used to define a number of informational actions that can modify the "objective" temporal structure of a model along with the agents' basic and higher-order knowledge and beliefs about this structure, including their beliefs about the time. In essence, this approach provides one way to extend the domain of action model-style operations from atemporal Kripke models to temporal Kripke models in a manner that allows actions to control the flow of time. We present a number of examples to illustrate the subtleties involved in interpreting the effects of our extended action models on temporal Kripke models. We also study preservation of important epistemic-temporal properties of temporal Kripke models under temporal action model-induced operations, provide complete axiomatizations for two theories of temporal action models, and connect our approach with previous work on time in Dynamic Epistemic Logic