11,850 research outputs found
Model Checking Spatial Logics for Closure Spaces
Spatial aspects of computation are becoming increasingly relevant in Computer
Science, especially in the field of collective adaptive systems and when
dealing with systems distributed in physical space. Traditional formal
verification techniques are well suited to analyse the temporal evolution of
programs; however, properties of space are typically not taken into account
explicitly. We present a topology-based approach to formal verification of
spatial properties depending upon physical space. We define an appropriate
logic, stemming from the tradition of topological interpretations of modal
logics, dating back to earlier logicians such as Tarski, where modalities
describe neighbourhood. We lift the topological definitions to the more general
setting of closure spaces, also encompassing discrete, graph-based structures.
We extend the framework with a spatial surrounded operator, a propagation
operator and with some collective operators. The latter are interpreted over
arbitrary sets of points instead of individual points in space. We define
efficient model checking procedures, both for the individual and the collective
spatial fragments of the logic and provide a proof-of-concept tool
Specifying and Verifying Properties of Space - Extended Version
The interplay between process behaviour and spatial aspects of computation
has become more and more relevant in Computer Science, especially in the field
of collective adaptive systems, but also, more generally, when dealing with
systems distributed in physical space. Traditional verification techniques are
well suited to analyse the temporal evolution of programs; properties of space
are typically not explicitly taken into account. We propose a methodology to
verify properties depending upon physical space. We define an appropriate
logic, stemming from the tradition of topological interpretations of modal
logics, dating back to earlier logicians such as Tarski, where modalities
describe neighbourhood. We lift the topological definitions to a more general
setting, also encompassing discrete, graph-based structures. We further extend
the framework with a spatial until operator, and define an efficient model
checking procedure, implemented in a proof-of-concept tool.Comment: Presented at "Theoretical Computer Science" 2014, Rom
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Topological RANSAC for instance verification and retrieval without fine-tuning
This paper presents an innovative approach to enhancing explainable image
retrieval, particularly in situations where a fine-tuning set is unavailable.
The widely-used SPatial verification (SP) method, despite its efficacy, relies
on a spatial model and the hypothesis-testing strategy for instance
recognition, leading to inherent limitations, including the assumption of
planar structures and neglect of topological relations among features. To
address these shortcomings, we introduce a pioneering technique that replaces
the spatial model with a topological one within the RANSAC process. We propose
bio-inspired saccade and fovea functions to verify the topological consistency
among features, effectively circumventing the issues associated with SP's
spatial model. Our experimental results demonstrate that our method
significantly outperforms SP, achieving state-of-the-art performance in
non-fine-tuning retrieval. Furthermore, our approach can enhance performance
when used in conjunction with fine-tuned features. Importantly, our method
retains high explainability and is lightweight, offering a practical and
adaptable solution for a variety of real-world applications
Optimized Compilation of Aggregated Instructions for Realistic Quantum Computers
Recent developments in engineering and algorithms have made real-world
applications in quantum computing possible in the near future. Existing quantum
programming languages and compilers use a quantum assembly language composed of
1- and 2-qubit (quantum bit) gates. Quantum compiler frameworks translate this
quantum assembly to electric signals (called control pulses) that implement the
specified computation on specific physical devices. However, there is a
mismatch between the operations defined by the 1- and 2-qubit logical ISA and
their underlying physical implementation, so the current practice of directly
translating logical instructions into control pulses results in inefficient,
high-latency programs. To address this inefficiency, we propose a universal
quantum compilation methodology that aggregates multiple logical operations
into larger units that manipulate up to 10 qubits at a time. Our methodology
then optimizes these aggregates by (1) finding commutative intermediate
operations that result in more efficient schedules and (2) creating custom
control pulses optimized for the aggregate (instead of individual 1- and
2-qubit operations). Compared to the standard gate-based compilation, the
proposed approach realizes a deeper vertical integration of high-level quantum
software and low-level, physical quantum hardware. We evaluate our approach on
important near-term quantum applications on simulations of superconducting
quantum architectures. Our proposed approach provides a mean speedup of
, with a maximum of . Because latency directly affects the
feasibility of quantum computation, our results not only improve performance
but also have the potential to enable quantum computation sooner than otherwise
possible.Comment: 13 pages, to apper in ASPLO
Ranking Spaces for Predicting Human Movement in an Urban Environment
A city can be topologically represented as a connectivity graph, consisting
of nodes representing individual spaces and links if the corresponding spaces
are intersected. It turns out in the space syntax literature that some defined
topological metrics can capture human movement rates in individual spaces. In
other words, the topological metrics are significantly correlated to human
movement rates, and individual spaces can be ranked by the metrics for
predicting human movement. However, this correlation has never been well
justified. In this paper, we study the same issue by applying the weighted
PageRank algorithm to the connectivity graph or space-space topology for
ranking the individual spaces, and find surprisingly that (1) the PageRank
scores are better correlated to human movement rates than the space syntax
metrics, and (2) the underlying space-space topology demonstrates small world
and scale free properties. The findings provide a novel justification as to why
space syntax, or topological analysis in general, can be used to predict human
movement. We further conjecture that this kind of analysis is no more than
predicting a drunkard's walking on a small world and scale free network.
Keywords: Space syntax, topological analysis of networks, small world, scale
free, human movement, and PageRankComment: 11 pages, 5 figures, and 2 tables, English corrections from version 1
to version 2, major changes in the section of introduction from version 2 to
BigraphER: rewriting and analysis engine for bigraphs
BigraphER is a suite of open-source tools providing an effi-
cient implementation of rewriting, simulation, and visualisation for bigraphs,
a universal formalism for modelling interacting systems that
evolve in time and space and first introduced by Milner. BigraphER consists
of an OCaml library that provides programming interfaces for the
manipulation of bigraphs, their constituents and reaction rules, and a
command-line tool capable of simulating Bigraphical Reactive Systems
(BRSs) and computing their transition systems. Other features are native
support for both bigraphs and bigraphs with sharing, stochastic reaction
rules, rule priorities, instantiation maps, parameterised controls, predicate
checking, graphical output and integration with the probabilistic
model checker PRISM
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