Symbolic Trajectory Description Using Frescoes

Investigation of symbolic representations of environments plays an important role for solution of various problems of robot visual navigation. In this paper, we study methods of symbolic trajectory description for mobile robot navigation. For this purpose, we use the fresco approach. We consider the problem of salient frescoes selection. In particular, we consider various modifications of the Levenshtein distance method. Also, we use different circular strings methods.

Terminal Satisfiability in GSTE

Generalized symbolic trajectory evaluation(GSTE) is an extension of symbolic trajectory evaluation (STE) and a method of model checking. GSTE specifications are given as assertion graphs. There are four efficient methods to verify whether a circuit model obeys an assertion graph in GSTE, Model Checking Strong Satisfiability (SMC), Model Checking Normal Satisfiability (NMC), Model Checking Fair Satisfiability (FMC), and Model Checking Terminal Satisfiability (TMC). SMC, NMC, and FMC have been proved and applied in industry, but TMC has not. This paper gives a six-tuple definition and presents a new algorithm for TMC. Based on these, we prove that our algorithm is sound and complete. It solves the SMC’s limitation (resulting in false negative) without extending from finite specification to infinite specification. At last, a case of using TMC to verify a realistic hardware circuit round-robin arbiter is achieved. Avoiding verifying the undesired paths which are not related to the specifications, TMC makes it possible to reduce the computational complexity, and the experimental results suggest that the time cost by SMC is 3.14× with TMC in the case.

A Transformation-Based Approach to Implication of GSTE Assertion Graphs

Generalized symbolic trajectory evaluation (GSTE) is a model checking approach and has successfully demonstrated its powerful capacity in formal verification of VLSI systems. GSTE is an extension of symbolic trajectory evaluation (STE) to the model checking ofω-regular properties. It is an alternative to classical model checking algorithms where properties are specified as finite-state automata. In GSTE, properties are specified as assertion graphs, which are labeled directed graphs where each edge is labeled with two labeling functions: antecedent and consequent. In this paper, we show the complement relation between GSTE assertion graphs and finite-state automata with the expressiveness of regular languages andω-regular languages. We present an algorithm that transforms a GSTE assertion graph to a finite-state automaton and vice versa. By applying this algorithm, we transform the problem of GSTE assertion graphs implication to the problem of automata language containment. We demonstrate our approach with its application to verification of an FIFO circuit.