Many real world problems involve hybrid systems, subject to (continuous) physical effects and controlled by (discrete) digital equipments. Indeed, many efforts are being made to extend the current planning systems and modelling languages to support such kind of domains. However, hybrid systems often present also a nonlinear behaviour and planning with continuous nonlinear change that is still a challenging issue.In this paper we present the UPMurphi tool, a universal planner based on the discretise and validate approach that is capable of reasoning with mixed discrete/continuous domains, fully respecting the semantics of PDDL+. Given an initial discretisation, the hybrid system is discretised and given as input to UPMurphi, which performs universal planning on such an approximated model and checks the correctness of the results. If the validation fails, the approach is repeated by appropriately refining the discretisation.To show the effectiveness of our approach, the paper presents two real hybrid domains where universal planning has been successfully performed using the UPMurphi tool.
In this paper we show that statistical properties of the transition graph of a system to be verified can be exploited to improve memory or time performances of verification algorithms.\ud
We show experimentally that protocols exhibit transition locality. That is, with respect to levels of a breadth-first state space exploration, state transitions tend to be between states belonging to close levels of the transition graph. We support our claim by measuring transition locality for the set of protocols included in the Murphi verifier distribution .\ud
We present a cache-based verification algorithm that exploits transition locality to decrease memory usage and a disk-based verification algorithm that exploits transition locality to decrease disk read accesses, thus reducing the time overhead due to disk usage. Both algorithms have been implemented within the Murphi verifier.\ud
Our experimental results show that our cache-based algorithm can typically save more than 40% of memory with an average time penalty of about 50% when using (Murphi) bit compression and 100% when using bit compression and hash compaction, whereas our disk-based verification algorithm is typically more than ten times faster than a previously proposed disk-based verification algorithm and, even when using 10% of the memory needed to complete verification, it is only between 40 and 530% (300% on average) slower than (RAM) Murphi with enough memory to complete the verification task at hand. Using just 300 MB of memory our disk-based Murphi was able to complete verification of a protocol with about 109 reachable states. This would require more than 5 GB of memory using standard Murphi
Abstract. In this paper we present an algorithm to contrast state explosion when using Explicit State Space Exploration to verify protocols. We show experimentally that protocols exhibit transition locality. We present a verification algorithm that exploits transition locality as well as an implementation of it within the Murϕ verifier. Our algorithm is compatible with all Breadth First (BF) optimization techniques present in the Murϕ verifier and it is by no means a substitute for any of them. In fact, since our algorithm trades space with time, it is typically most useful when one runs out of memory and has already used all other state reduction techniques present in the Murϕ verifier. Our experimental results show that using our approach we can typically save more than 40% of RAM with an average time penalty of about 50% when using (Murϕ) bit compression and 100% when using bit compression and hash compaction.
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