Patrolling tasks in multi-robot systems are essential for applications such as surveillance and monitoring, where minimizing the time between visits to any given location is critical. This paper investigates fault-tolerant redistribution strategies for multi-agent patrolling systems in partitioned environments using Unmanned Autonomous Vehicles (UAVs). We propose Heuristic Meeting-based Patrolling (HMP), a novel distributed and fault-tolerant patrolling algorithm. Building on the Heuristic Conscientious Reactive (HCR) strategy and incorporating periodic synchronization meetings, HMP enables decentralized coordination and dynamic fault recovery through minimal communication. UAVs exchange information at shared meeting points, enabling detection of failures and redistribution of responsibilities. We evaluate HMP and its simplified variants in various simulated environments using the Multi-Agent Exploration and Patrolling Simulator (MAEPS). The results demonstrate that HMP offers strong performance under both normal and fault conditions, comparative to state-of-the-art patrolling strategies in terms of idleness metrics. However, we also identify limitations in meeting scheduling under certain fault conditions, which can cause cascading failures. Based on these findings, we discuss potential improvements for future work, including enhanced meeting scheduling and adaptive partitioning strategies.

Cyber-physical systems (CPSs) are naturally modelled as reactive systems with nondeterministic and probabilistic dynamics. Model-based verification techniques have proved effective in the deployment of safety-critical CPSs. Central for a successful application of such techniques is the construction of an accurate formal model for the system. Manual construction can be a resource-demanding and error-prone process, thus motivating the design of automata learning algorithms to synthesise a system model from observed system behaviours.This paper revisits and adapts the classic Baum-Welch algorithm for learning Markov decision processes and Markov chains. For the case of MDPs, which typically demand more observations, we present a model-based active learning sampling strategy that choses examples which are most informative w.r.t. the current model hypothesis. We empirically compare our approach with state-of-the-art tools and demonstrate that the proposed active learning procedure can significantly reduce the number of observations required to obtain accurate models.

We introduce polynomial couplings, a generalization of probabilistic couplings, to develop an algorithm for the computation of equivalence relations which can be interpreted as a lifting of probabilistic bisimulation to polynomial differential equations, a ubiquitous model of dynamical systems across science and engineering. The algorithm enjoys polynomial time complexity and complements classical partition-refinement approaches because: (a) it implements a local exploration of the system, possibly yielding equivalences that do not necessarily involve the inspection of the whole system of differential equations; (b) it can be enhanced by up-to techniques; and (c) it allows the specification of pairs which ought not be included in the output. Using a prototype, these advantages are demonstrated on case studies from systems biology for applications to model reduction and comparison. Notably, we report four orders of magnitude smaller runtimes than partition-refinement approaches when disproving equivalences between Markov chains.

Abstract In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of the energy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit existence of energy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematica and Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previous approaches our method is completely automated and provides improved results.

Abstract Automata learning techniques automatically generate systemmodels fromtest observations. Typically, these techniques fall into two categories: passive and active. On the one hand, passive learning assumes no interaction with the system under learning and uses a predetermined training set, e.g., system logs. On the other hand, active learning techniques collect training data by actively querying the system under learning, allowing one to steer the discovery ofmeaningful information about the systemunder learning leading to effective learning strategies. A notable example of active learning technique for regular languages is Angluin’s L ∗ -algorithm. The L ∗ -algorithm describes the strategy of a student who learns the minimal deterministic finite automaton of an unknown regular language L by asking a succinct number of queries to a teacher who knows L . In this work, we study L ∗ -based learning of deterministic Markov decision processes, a class of Markov decision processes where an observation following an action uniquely determines a successor state. For this purpose, we first assume an ideal setting with a teacher who provides perfect information to the student. Then, we relax this assumption and present a novel learning algorithm that collects information by sampling execution traces of the system via testing. Experiments performed on an implementation of our sampling-based algorithm suggest that our method achieves better accuracy than state-of-the-art passive learning techniques using the same amount of test obser vations. In contrast to existing learning algorithms which assume a predefined number of states, our algorithm learns the complete model structure including the state space.

The probabilistic bisimilarity distance of Deng et al. has been proposed as a robust quantitative generalization of Segala and Lynch's probabilistic bisimilarity for probabilistic automata. In this paper, we present a novel characterization of the bisimilarity distance as the solution of a simple stochastic game. The characterization gives us an algorithm to compute the distances by applying Condon's simple policy iteration on these games. The correctness of Condon's approach, however, relies on the assumption that the games are stopping. Our games may be non-stopping in general, yet we are able to prove termination for this extended class of games. Already other algorithms have been proposed in the literature to compute these distances, with complexity in UP cap coUP and PPAD. Despite the theoretical relevance, these algorithms are inefficient in practice. To the best of our knowledge, our algorithm is the first practical solution. In the proofs of all the above-mentioned results, an alternative presentation of the Hausdorff distance due to Mémoli plays a central rôle.

We study two well-known linear-time metrics on Markov chains (MCs), namely, the strong and strutter trace distances. Our interest in these metrics is motivated by their relation to the probabilistic linear temporal logic (LTL)-model checking problem: we prove that they correspond to the maximal differences in the probability of satisfying the same LTL and LTL−X(LTL without next operator) formulas, respectively. The threshold problem for these distances (whether their value exceeds a given threshold) is NP-hard and not known to be decidable. Nevertheless, we provide an approximation schema where each lower and upper approximant is computable in polynomial time in the size of the MC. The upper approximants are bisimilarity-like pseudometrics (hence, branching-time distances) that converge point-wise to the linear-time metrics. This convergence is interesting in itself, because it reveals a non-trivial relation between branching and linear-time metric-based semantics that does not hold in equivalence-based semantics.

In this paper we propose a complete axiomatization of the bisimilarity distance of Desharnais et al. for the class of finite labelled Markov chains. Our axiomatization is given in the style of a quantitative extension of equational logic recently proposed by Mardare, Panangaden, and Plotkin (LICS 2016) that uses equality relations $t \equiv_\varepsilon s$ indexed by rationals, expressing that `$t$ is approximately equal to $s$ up to an error $\varepsilon$'. Notably, our quantitative deduction system extends in a natural way the equational system for probabilistic bisimilarity given by Stark and Smolka by introducing an axiom for dealing with the Kantorovich distance between probability distributions. The axiomatization is then used to propose a metric extension of a Kleene's style representation theorem for finite labelled Markov chains, that was proposed (in a more general coalgebraic fashion) by Silva et al. (Inf. Comput. 2011). Comment: Logical Methods in Computer Science

We address the behavioral metric-based approximate minimization problem of Markov Chains (MCs), i.e., given a finite MC and a positive integer k, we are interested in finding a k-state MC of minimal distance to the original. By considering as metric the bisimilarity distance of Desharnais at al., we show that optimal approximations always exist; show that the problem can be solved as a bilinear program; and prove that its threshold problem is in PSPACE and NP-hard. Finally, we present an approach inspired by expectation maximization techniques that provides suboptimal solutions. Experiments suggest that our method gives a practical approach that outperforms the bilinear program implementation run on state-of-the-art bilinear solvers.

We propose a distance between continuous-time Markov chains (CTMCs) and study the problem of computing it by comparing three different algorithmic methodologies: iterative, linear program, and on-the-fly. In a work presented at FoSSaCS'12, Chen et al. characterized the bisimilarity distance of Desharnais et al. between discrete-time Markov chains as an optimal solution of a linear program that can be solved by using the ellipsoid method. Inspired by their result, we propose a novel linear program characterization to compute the distance in the continuous-time setting. Differently from previous proposals, ours has a number of constraints that is bounded by a polynomial in the size of the CTMC. This, in particular, proves that the distance we propose can be computed in polynomial time. Despite its theoretical importance, the proposed linear program characterization turns out to be inefficient in practice. Nevertheless, driven by the encouraging results of our previous work presented at TACAS'13, we propose an efficient on-the-fly algorithm, which, unlike the other mentioned solutions, computes the distances between two given states avoiding an exhaustive exploration of the state space. This technique works by successively refining over-approximations of the target distances using a greedy strategy, which ensures that the state space is further explored only when the current approximations are improved. Tests performed on a consistent set of (pseudo)randomly generated CTMCs show that our algorithm improves, on average, the efficiency of the corresponding iterative and linear program methods with orders of magnitude.

In this paper we propose a complete axiomatization of the bisimilarity distance of Desharnais et al. for the class of finite labelled Markov chains. Our axiomatization is given in the style of a quantitative extension of equational logic recently proposed by Mardare, Panangaden, and Plotkin (LICS'16) that uses equality relations t =_e s indexed by rationals, expressing that "t is approximately equal to s up to an error e". Notably, our quantitative deductive system extends in a natural way the equational system for probabilistic bisimilarity given by Stark and Smolka by introducing an axiom for dealing with the Kantorovich distance between probability distributions.

This paper presents a technique to automatically infer algebraic property-oriented specifications from first-order Curry programs. Curry is a lazy functional logic language and the interaction between laziness and logical variables raises some additional difficulties with respect to other proposals for functional languages. Our technique statically infers from the source code of a Curry program a specification which consists of a set of equations relating (nested) operation calls that have the same behavior. We propose a (glass-box) semantic-based inference method which relies on a fully-abstract (condensed) semantics for achieving, to some extent, the correctness of the inferred specification, differently from other (black-box) approaches based on testing techniques.