Benchmark Proposal: We describe how a well-known backward reachability problem with nonlinear dynamics and adversarial inputs—based on a pursuit evasion game with two identical vehicles that have Dubins car dynamics—can be viewed as a robust controlled backward reach tube. The resulting set is nonconvex with a surface that is nondifferentiable in places, yet (mostly explicit) closed form solutions for points on the surface of this set have been derived based on a classical differential game analysis, and so these points can be sampled with high accuracy at arbitrary density. We propose this problem as a benchmark because few existing reachability algorithms can tackle robust controlled backward reach tubes despite their potential for proving the robust safety of systems, and this (almost) analytic solution exists against which to compare prospective solutions. We then describe some extensions to the problem to provide additional future challenges. Code is provided.
{"title":"A Robust Controlled Backward Reach Tube with (Almost) Analytic Solution for Two Dubins Cars","authors":"I. Mitchell","doi":"10.29007/mx3f","DOIUrl":"https://doi.org/10.29007/mx3f","url":null,"abstract":"Benchmark Proposal: We describe how a well-known backward reachability problem with nonlinear dynamics and adversarial inputs—based on a pursuit evasion game with two identical vehicles that have Dubins car dynamics—can be viewed as a robust controlled backward reach tube. The resulting set is nonconvex with a surface that is nondifferentiable in places, yet (mostly explicit) closed form solutions for points on the surface of this set have been derived based on a classical differential game analysis, and so these points can be sampled with high accuracy at arbitrary density. We propose this problem as a benchmark because few existing reachability algorithms can tackle robust controlled backward reach tubes despite their potential for proving the robust safety of systems, and this (almost) analytic solution exists against which to compare prospective solutions. We then describe some extensions to the problem to provide additional future challenges. Code is provided.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"1 1","pages":"242-258"},"PeriodicalIF":0.0,"publicationDate":"2020-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43745598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Lei Bu, A. Abate, D. Adzkiya, M. S. Mufid, Rajarshi Ray, Yuming Wu, E. Zaffanella
This report presents the results of a friendly competition for formal verification of continuous and hybrid systems with piecewise constant dynamics. The friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in 2020. In this fourth edition, five tools have been applied to solve six different benchmark problems in the category for piecewise constant dynamics: BACH, PHAVerLite, PHAVer/SX, TROPICAL, and XSpeed. Compared to last year, we combine the HBMC and HPWC categories of ARCH-COMP 2019 to a new category PCDB (hybrid systems with Piecewise Constant bounds on the Dynamics (HPCD) and Bounded model checking (BMC) of HPCD systems). The result is a snapshot of the current landscape of tools and the types of benchmarks they are particularly suited for. Due to the diversity of problems, we are not ranking tools, yet the presented results probably provide the most complete assessment of tools for the safety verification of continuous and hybrid systems with piecewise constant dynamics up to this date. G. Frehse and M. Althoff (eds.), ARCH20 (EPiC Series in Computing, vol. 74), pp. 1–15 ARCH-COMP PCDB Results L.Bu et al.
本报告提出了一个友好竞争的结果，以正式验证连续和混合系统的分段恒定动力学。此次友好竞赛是2020年连续和混合系统(ARCH)应用验证研讨会的一部分。在这个第四版中，已经应用了五个工具来解决分段恒定动态类别中的六个不同的基准问题:BACH、PHAVerLite、PHAVer/SX、TROPICAL和XSpeed。与去年相比，我们将ARCH-COMP 2019的HBMC和HPWC类别合并为一个新的类别PCDB(具有分段恒界动力学(HPCD)和HPCD系统的有界模型检查(BMC)的混合系统)。其结果是对当前工具的概况和它们特别适合的基准类型的快照。由于问题的多样性，我们没有对工具进行排名，但所提出的结果可能提供了迄今为止对具有分段恒定动力学的连续和混合系统的安全验证工具的最完整评估。G. Frehse和M. Althoff(编)，ARCH20 (EPiC Series in Computing, vol. 74)， pp. 1-15 ARCH-COMP PCDB Results L.Bu et al。
{"title":"ARCH-COMP20 Category Report: Hybrid Systems with Piecewise Constant Dynamics and Bounded Model Checking","authors":"Lei Bu, A. Abate, D. Adzkiya, M. S. Mufid, Rajarshi Ray, Yuming Wu, E. Zaffanella","doi":"10.29007/BHWX","DOIUrl":"https://doi.org/10.29007/BHWX","url":null,"abstract":"This report presents the results of a friendly competition for formal verification of continuous and hybrid systems with piecewise constant dynamics. The friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in 2020. In this fourth edition, five tools have been applied to solve six different benchmark problems in the category for piecewise constant dynamics: BACH, PHAVerLite, PHAVer/SX, TROPICAL, and XSpeed. Compared to last year, we combine the HBMC and HPWC categories of ARCH-COMP 2019 to a new category PCDB (hybrid systems with Piecewise Constant bounds on the Dynamics (HPCD) and Bounded model checking (BMC) of HPCD systems). The result is a snapshot of the current landscape of tools and the types of benchmarks they are particularly suited for. Due to the diversity of problems, we are not ranking tools, yet the presented results probably provide the most complete assessment of tools for the safety verification of continuous and hybrid systems with piecewise constant dynamics up to this date. G. Frehse and M. Althoff (eds.), ARCH20 (EPiC Series in Computing, vol. 74), pp. 1–15 ARCH-COMP PCDB Results L.Bu et al.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"1 1","pages":"1-15"},"PeriodicalIF":0.0,"publicationDate":"2020-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45787671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Experience Report: Real-Time control systems can be difficult to analyze due to the mixture of discrete-time and continuous-time dynamics. This difficulty is particularly pronounced if the timing is non-periodic, e.g., due to network or execution effects. Still, most control loops behave similar to a purely continuous-time system disturbed by a small discretization error, which is exploited by Bak and Johnson (2015) in the method of Continuization . This paper uncovers limitations of that work and presents an extension, First-Order Continuization, based on a new formal framework that recovers previous results and eases future development.
{"title":"Analysis of Real-Time Control Systems using First-Order Continuization","authors":"M. Gaukler","doi":"10.29007/8nq6","DOIUrl":"https://doi.org/10.29007/8nq6","url":null,"abstract":"Experience Report: Real-Time control systems can be difficult to analyze due to the mixture of discrete-time and continuous-time dynamics. This difficulty is particularly pronounced if the timing is non-periodic, e.g., due to network or execution effects. Still, most control loops behave similar to a purely continuous-time system disturbed by a small discretization error, which is exploited by Bak and Johnson (2015) in the method of Continuization . This paper uncovers limitations of that work and presents an extension, First-Order Continuization, based on a new formal framework that recovers previous results and eases future development.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"1 1","pages":"209-241"},"PeriodicalIF":0.0,"publicationDate":"2020-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46439419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
G. Ernst, Paolo Arcaini, Ismail Bennani, Alexandre Donzé, Georgios Fainekos, G. Frehse, L. Mathesen, C. Menghi, Giulia Pedrielli, M. Pouzet, Shakiba Yaghoubi, Yoriyuki Yamagata, Zhenya Zhang
This report presents the results from the 2020 friendly competition in the ARCH workshop for the falsification of temporal logic specifications over Cyber-Physical Systems. We briefly describe the competition settings, which have been inherited from the previous year, give background on the participating teams and tools and discuss the selected benchmarks. The benchmarks are available on the ARCH website, as well as in the competition’s gitlab repository. In comparison to 2019, we have two new participating tools with novel approaches, and the results show a clear improvement over previous performances on some benchmarks.
{"title":"ARCH-COMP 2020 Category Report: Falsification","authors":"G. Ernst, Paolo Arcaini, Ismail Bennani, Alexandre Donzé, Georgios Fainekos, G. Frehse, L. Mathesen, C. Menghi, Giulia Pedrielli, M. Pouzet, Shakiba Yaghoubi, Yoriyuki Yamagata, Zhenya Zhang","doi":"10.29007/trr1","DOIUrl":"https://doi.org/10.29007/trr1","url":null,"abstract":"This report presents the results from the 2020 friendly competition in the ARCH workshop for the falsification of temporal logic specifications over Cyber-Physical Systems. We briefly describe the competition settings, which have been inherited from the previous year, give background on the participating teams and tools and discuss the selected benchmarks. The benchmarks are available on the ARCH website, as well as in the competition’s gitlab repository. In comparison to 2019, we have two new participating tools with novel approaches, and the results show a clear improvement over previous performances on some benchmarks.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"1 1","pages":"140-152"},"PeriodicalIF":0.0,"publicationDate":"2020-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46432745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The phenomenon of phase synchronization was evidenced in the 17th century by Huy- gens while observing two pendulums of clocks leaning against the same wall. This phe- nomenon has more recently appeared as a widespread phenomenon in nature, and turns out to have multiple industrial applications. The exact parameter values of the system for which the phenomenon manifests itself are however delicate to obtain in general, and it is interesting to find formal sufficient conditions to guarantee phase synchronization. Using the notion of reachability, we give here such a formal method. More precisely, our method selects a portion S of the state space, and shows that any solution starting at S returns to S within a fixed number of periods k. Besides, our method shows that the components of the solution are then (almost) in phase. We explain how the method applies on the Brusselator reaction-diffusion and the biped walker examples. These examples can also be seen as “challenges” for the verification of continuous and hybrid systems.
{"title":"Guaranteed phase synchronization of hybrid oscillators using symbolic Euler's method (verification challenge)","authors":"J. Jerray, L. Fribourg, É. André","doi":"10.29007/l3k2","DOIUrl":"https://doi.org/10.29007/l3k2","url":null,"abstract":"The phenomenon of phase synchronization was evidenced in the 17th century by Huy- gens while observing two pendulums of clocks leaning against the same wall. This phe- nomenon has more recently appeared as a widespread phenomenon in nature, and turns out to have multiple industrial applications. The exact parameter values of the system for which the phenomenon manifests itself are however delicate to obtain in general, and it is interesting to find formal sufficient conditions to guarantee phase synchronization. Using the notion of reachability, we give here such a formal method. More precisely, our method selects a portion S of the state space, and shows that any solution starting at S returns to S within a fixed number of periods k. Besides, our method shows that the components of the solution are then (almost) in phase. We explain how the method applies on the Brusselator reaction-diffusion and the biped walker examples. These examples can also be seen as “challenges” for the verification of continuous and hybrid systems.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"1 1","pages":"197-208"},"PeriodicalIF":0.0,"publicationDate":"2020-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46261289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Alessandro Abate, Henk A. P. Blom, Nathalie Cauchi, Joanna Delicaris, A. Hartmanns, Mahmoud Khaled, Abolfazl Lavaei, Carina Pilch, Anne Remke, Stefan Schupp, F. Shmarov, S. Soudjani, Abraham P. Vinod, B. Wooding, Majid Zamani, Paolo Zuliani
This report presents the results of a friendly competition for formal verification and policy synthesis of stochastic models. It also introduces new benchmarks within this category, and recommends next steps for this category towards next year's edition of the competition. The friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in Spring/Summer 2020.
{"title":"ARCH-COMP20 Category Report: Stochastic Models","authors":"Alessandro Abate, Henk A. P. Blom, Nathalie Cauchi, Joanna Delicaris, A. Hartmanns, Mahmoud Khaled, Abolfazl Lavaei, Carina Pilch, Anne Remke, Stefan Schupp, F. Shmarov, S. Soudjani, Abraham P. Vinod, B. Wooding, Majid Zamani, Paolo Zuliani","doi":"10.29007/mqzc","DOIUrl":"https://doi.org/10.29007/mqzc","url":null,"abstract":"This report presents the results of a friendly competition for formal verification and policy synthesis of stochastic models. It also introduces new benchmarks within this category, and recommends next steps for this category towards next year's edition of the competition. The friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in Spring/Summer 2020.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"68 1","pages":"76-106"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89068808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Reachable set computation is one of the many widely-used techniques for the verification of safety properties of dynamical systems. One of the simplest algorithms for computing reachable sets for discrete nonlinear systems uses parallelotope bundles and Bernstein polynomials. In this paper, we describe Kaa, a terse Python implementation of reachable set computation which leverages the widely used symbolic package sympy. Additionally, we simplify the user interface and provide easy-to-use plotting utilities. We believe that our tool has pedagogical value given the simplicity of the implementation and its userfriendliness.
{"title":"Kaa: A Python Implementation of Reachable Set Computation Using Bernstein Polynomials","authors":"Edward D. Kim, Parasara Sridhar Duggirala","doi":"10.29007/rs5n","DOIUrl":"https://doi.org/10.29007/rs5n","url":null,"abstract":"Reachable set computation is one of the many widely-used techniques for the verification of safety properties of dynamical systems. One of the simplest algorithms for computing reachable sets for discrete nonlinear systems uses parallelotope bundles and Bernstein polynomials. In this paper, we describe Kaa, a terse Python implementation of reachable set computation which leverages the widely used symbolic package sympy. Additionally, we simplify the user interface and provide easy-to-use plotting utilities. We believe that our tool has pedagogical value given the simplicity of the implementation and its userfriendliness.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"25 1","pages":"184-196"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87870481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Eddeland, Alexandre Donzé, S. Miremadi, K. Åkesson
In this benchmark proposal, we present a set of large specifications stated in Signal Temporal Logic (STL) intended for use in falsification of Cyber-Physical Systems. The main purpose of the benchmark is for tools that monitor STL specifications to be able to test their performance on complex specifications that have structure similar to industrial specifications. The benchmark itself is a Git repository which will therefore be updated over time, and new specifications can be added. At the time of submission, the repository contains a total of seven Simulink requirement models, resulting in 17 generated STL specifications.
{"title":"Industrial Temporal Logic Specifications for Falsification of Cyber-Physical Systems","authors":"J. Eddeland, Alexandre Donzé, S. Miremadi, K. Åkesson","doi":"10.29007/r74f","DOIUrl":"https://doi.org/10.29007/r74f","url":null,"abstract":"In this benchmark proposal, we present a set of large specifications stated in Signal Temporal Logic (STL) intended for use in falsification of Cyber-Physical Systems. The main purpose of the benchmark is for tools that monitor STL specifications to be able to test their performance on complex specifications that have structure similar to industrial specifications. The benchmark itself is a Git repository which will therefore be updated over time, and new specifications can be added. At the time of submission, the repository contains a total of seven Simulink requirement models, resulting in 17 generated STL specifications.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"29 1","pages":"267-274"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88136673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Temporal-logic based falsification of Cyber-Physical Systems is a testing technique used to verify certain behaviours in simulation models, however the problem statement typically requires some model-specific tuning of parameters to achieve optimal results. In this experience report, we investigate how different optimization solvers and objective functions affect the falsification outcome for a benchmark set of models and specifications. With data from the four different solvers and three different objective functions for the falsification problem, we see that choice of solver and objective function depends both on the model and the specification that are to be falsified. We also note that using a robust semantics of Signal Temporal Logic typically increases falsification performance compared to using Boolean semantics.
{"title":"Evaluating Optimization Solvers and Robust Semantics for Simulation-Based Falsification","authors":"J. Eddeland, S. Miremadi, K. Åkesson","doi":"10.29007/f4vs","DOIUrl":"https://doi.org/10.29007/f4vs","url":null,"abstract":"Temporal-logic based falsification of Cyber-Physical Systems is a testing technique used to verify certain behaviours in simulation models, however the problem statement typically requires some model-specific tuning of parameters to achieve optimal results. In this experience report, we investigate how different optimization solvers and objective functions affect the falsification outcome for a benchmark set of models and specifications. With data from the four different solvers and three different objective functions for the falsification problem, we see that choice of solver and objective function depends both on the model and the specification that are to be falsified. We also note that using a robust semantics of Signal Temporal Logic typically increases falsification performance compared to using Boolean semantics.","PeriodicalId":82938,"journal":{"name":"The Archivist","volume":"105 1","pages":"259-266"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79281253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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