Abstract
We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multi-layered approach for hybrid-system testing that integrates continuous sampling-based robot motion planning with discrete searching. The discrete search uses the discrete transitions of the hybrid system and coarse-grained decompositions of the continuous state spaces or related projections to guide the motion planner during the search for witness trajectories. Experiments presented in this paper, using a hybrid system inspired by robot motion planning and with nonlinear dynamics associated with each of several thousand modes, provide an initial validation of HyDICE and demonstrate its promise as a hybrid-system testing method. Comparisons to related work show computational speedups of up to two orders of magnitude.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Glover, W., Lygeros, J.: A stochastic hybrid model for air traffic control simulation. In: Alur, R., Pappas, G.J. (eds.) HSCC 2004. LNCS, vol. 2993, pp. 372–386. Springer, Heidelberg (2004)
Pepyne, D., Cassandras, C.: Optimal control of hybrid systems in manufacturing. Proceedings of IEEE 88(7), 1108–1123 (2000)
Johansson, R., Rantzer, A. (eds.): Nonlinear and Hybrid Systems in Automotive Control. Springer, London, UK (2003)
Dounias, G., Linkens, D.A.: Adaptive systems and hybrid computational intelligence in medicine. Artificial Intelligence in Medicine 32(3), 151–155 (2004)
Piazza, C., Antoniotti, M., Mysore, V., Policriti, A., Winkler, F., Mishra, B.: Algorithmic algebraic model checking I: Challenges from systems biology. In: Etessami, K., Rajamani, S.K. (eds.) CAV 2005. LNCS, vol. 3576, pp. 5–19. Springer, Heidelberg (2005)
Alur, R., Courcoubetis, C., Henzinger, T., Ho, P.H.: Hybrid automata: an algorithmic approach to the specification and verification of hybrid systems. In: Grossman, R.L., Ravn, A.P., Rischel, H., Nerode, A. (eds.) Hybrid Systems. LNCS, vol. 736, pp. 209–229. Springer, Heidelberg (1993)
Henzinger, T., Kopke, P., Puri, A., Varaiya, P.: What’s decidable about hybrid automata? In: STOC, pp. 373–382. ACM Press, New York (1995)
Henzinger, T.: The theory of hybrid automata. In: Proc. 11th IEEE Symp. on Logic in Computer Science, DIMACS, pp. 278–292. IEEE Computer Society Press, Los Alamitos (1996)
Lafferriere, G., Pappas, G., Yovine, S.: A new class of decidable hybrid systems. In: Vaandrager, F.W., van Schuppen, J.H. (eds.) HSCC 1999. LNCS, vol. 1569, pp. 137–151. Springer, Heidelberg (1999)
Puri, A.: Theory of Hybrid Systems and Discrete Event Systems. PhD thesis, University of California, Berkeley (1995)
Tomlin, C.J., Mitchell, I., Bayen, A., Oishi, M.: Computational techniques for the verification and control of hybrid systems. Proc. of IEEE 91(7), 986–1001 (2003)
Chutinan, C., Krogh, B.H.: Computational techniques for hybrid system verification. IEEE Transactions on Automatic Control 48(1), 64–75 (2003)
Silva, B., Stursberg, O., Krogh, B., Engell, S.: An assessment of the current status of algorithmic approaches to the verification of hybrid systems. In: IEEE Conf. on Decision and Control. vol. 3, pp. 2867–2874 (2001)
Esposito, J.M., Kim, J., Kumar, V.: Adaptive RRTs for validating hybrid robotic control systems. In: WAFR, Zeist, Netherlands, pp. 107–132 (2004)
Kim, J., Esposito, J.M., Kumar, V.: An RRT-based algorithm for testing and validating multi-robot controllers. In: RSS, Boston, MA, pp. 249–256 (2005)
Copty, F., Fix, L., Fraer, R., Giunchiglia, E., Kamhi, G., Tacchella, A., Vardi, M.: Benefits of bounded model checking at an industrial setting. In: Berry, G., Comon, H., Finkel, A. (eds.) CAV 2001. LNCS, vol. 2102, pp. 436–453. Springer, Heidelberg (2001)
Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L.E., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge, MA (2005)
LaValle, S.M.: Planning Algorithms. Cambridge University Press, Cambridge (2006)
LaValle, S.M., Kuffner, J.J.: Rapidly-exploring random trees: Progress and prospects. In: Donald, B.R., Lynch, K., Rus, D. (eds.) WAFR, pp. 293–308 (2000)
Hsu, D., Kindel, R., Latombe, J.C., Rock, S.: Randomized kinodynamic motion planning with moving obstacles. IJRR 21(3), 233–255 (2002)
Plaku, E., Bekris, K.E., Chen, B.Y., Ladd, A.M., Kavraki, L.E.: Sampling-based roadmap of trees for parallel motion planning. IEEE Trans. on Robotics 21(4), 597–608 (2005)
Ladd, A.M., Kavraki, L.E.: Motion planning in the presence of drift, underactuation and discrete system changes. In: RSS, Boston, MA, pp. 233–241 (2005)
Bekris, K.E., Kavraki, L.E.: Greedy but safe replanning under kinodynamic constraints. In: IEEE ICRA, Rome, Italy (2007)
Plaku, E., Vardi, M.Y., Kavraki, L.E.: Discrete search leading continuous exploration for kinodynamic motion planning. In: RSS, Atlanta, GA (2007)
Kavraki, L.E., Švestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation 12(4), 566–580 (1996)
Plaku, E., Kavraki, L.E., Vardi, M.Y.: A motion planner for a hybrid robotic system with kinodynamic constraints. In: IEEE ICRA, Rome, Italy (2007)
Zhang, W.: State-space Search: Algorithms, Complexity, Extensions, and Applications. Springer, New York (2006)
Biere, A., Cimatti, A., Clarke, E., Fujita, M., Zhu, Y.: Symbolic model checking using SAT procedures instead of BDDs. In: Proc. 36th Design Automation Conference, pp. 317–320. IEEE Computer Society Press, Los Alamitos (1999)
Edelkamp, S., Jabbar, S.: Large-scale directed model checking ltl. In: Valmari, A. (ed.) Model Checking Software. LNCS, vol. 3925, pp. 1–18. Springer, Heidelberg (2006)
Burch, J., Clarke, E., McMillan, K., Dill, D., Hwang, L.: Symbolic model checking: 1020 states and beyond. Information and Computation 98(2), 142–170 (1992)
Ladd, A.M.: Motion Planning for Physical Simulation. PhD thesis, Rice University, Houston, TX (2006)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Plaku, E., Kavraki, L.E., Vardi, M.Y. (2007). Hybrid Systems: From Verification to Falsification. In: Damm, W., Hermanns, H. (eds) Computer Aided Verification. CAV 2007. Lecture Notes in Computer Science, vol 4590. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73368-3_48
Download citation
DOI: https://doi.org/10.1007/978-3-540-73368-3_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73367-6
Online ISBN: 978-3-540-73368-3
eBook Packages: Computer ScienceComputer Science (R0)