Paxos Consensus, Deconstructed and Abstracted (Extended Version)

Lamport's Paxos algorithm is a classic consensus protocol for state machine replication in environments that admit crash failures. Many versions of Paxos exploit the protocol's intrinsic properties for the sake of gaining better run-time performance, thus widening the gap between the original description of the algorithm, which was proven correct, and its real-world implementations. In this work, we address the challenge of specifying and verifying complex Paxos-based systems by (a) devising composable specifications for implementations of Paxos's single-decree version, and (b) engineering disciplines to reason about protocol-aware, semantics-preserving optimisations to single-decree Paxos. In a nutshell, our approach elaborates on the deconstruction of single-decree Paxos by Boichat et al. We provide novel non-deterministic specifications for each module in the deconstruction and prove that the implementations refine the corresponding specifications, such that the proofs of the modules that remain unchanged can be reused across different implementations. We further reuse this result and show how to obtain a verified implementation of Multi-Paxos from a verified implementation of single-decree Paxos, by a series of novel protocol-aware transformations of the network semantics, which we prove to be behaviour-preserving.Comment: Accepted for publication in the 27th European Symposium on Programming (ESOP'18

SDN-Actors:Modeling and Verification of SDN Programs

Software-Defined Networking (SDN) is a recent networking paradigm that has become increasingly popular in the last decade. It gives unprecedented control over the global behavior of the network and provides a new opportunity for formal methods. Much work has appeared in the last few years on providing bridges between SDN and verification. This paper advances this research line and provides a link between SDN and traditional work on formal methods for verification of distributed software—actor-based modelling. We show how SDN programs can be seamlessly modelled using actors, and thus existing advanced model checking techniques developed for actors can be directly applied to verify a range of properties of SDN networks, including consistency of flow tables, violation of safety policies, and forwarding loops.Depto. de Sistemas Informáticos y ComputaciónFac. de InformáticaTRUEpu

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM

A Novel Combined SLAM Based on RBPF-SLAM and EIF-SLAM for Mobile System Sensing in a Large Scale Environment

Mobile autonomous systems are very important for marine scientific investigation and military applications. Many algorithms have been studied to deal with the computational efficiency problem required for large scale Simultaneous Localization and Mapping (SLAM) and its related accuracy and consistency. Among these methods, submap-based SLAM is a more effective one. By combining the strength of two popular mapping algorithms, the Rao-Blackwellised particle filter (RBPF) and extended information filter (EIF), this paper presents a Combined SLAM—an efficient submap-based solution to the SLAM problem in a large scale environment. RBPF-SLAM is used to produce local maps, which are periodically fused into an EIF-SLAM algorithm. RBPF-SLAM can avoid linearization of the robot model during operating and provide a robust data association, while EIF-SLAM can improve the whole computational speed, and avoid the tendency of RBPF-SLAM to be over-confident. In order to further improve the computational speed in a real time environment, a binary-tree-based decision-making strategy is introduced. Simulation experiments show that the proposed Combined SLAM algorithm significantly outperforms currently existing algorithms in terms of accuracy and consistency, as well as the computing efficiency. Finally, the Combined SLAM algorithm is experimentally validated in a real environment by using the Victoria Park dataset

Progress of concurrent objects

This tutorial is intended for use by researchers and students. It surveys the current state of the topic and introduces the reader to recent advances in a tutorial style that makes the topic accessible to newcomers to the field

Compositional verification of termination-preserving refinement of concurrent programs (extended version).

Abstract Many verification problems can be reduced to refinement verification. However, existing work on verifying refinement of concurrent programs either fails to prove the preservation of termination, allowing a diverging program to trivially refine any programs, or is difficult to apply in compositional thread-local reasoning. In this paper, we first propose a new simulation technique, which establishes termination-preserving refinement and is a congruence with respect to parallel composition. We then give a proof theory for the simulation, which is the first Hoare-style concurrent program logic supporting termination-preserving refinement proofs. We show two key applications of our logic, i.e., verifying linearizability and lockfreedom together for fine-grained concurrent objects, and verifying full correctness of optimizations of concurrent algorithms