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The algorithmic analysis of hybrid systems
 THEORETICAL COMPUTER SCIENCE
, 1995
"... We present a general framework for the formal specification and algorithmic analysis of hybrid systems. A hybrid system consists of a discrete program with an analog environment. We model hybrid systems as nite automata equipped with variables that evolve continuously with time according to dynamica ..."
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Cited by 778 (71 self)
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We present a general framework for the formal specification and algorithmic analysis of hybrid systems. A hybrid system consists of a discrete program with an analog environment. We model hybrid systems as nite automata equipped with variables that evolve continuously with time according to dynamical laws. For verification purposes, we restrict ourselves to linear hybrid systems, where all variables follow piecewiselinear trajectories. We provide decidability and undecidability results for classes of linear hybrid systems, and we show that standard programanalysis techniques can be adapted to linear hybrid systems. In particular, we consider symbolic modelchecking and minimization procedures that are based on the reachability analysis of an infinite state space. The procedures iteratively compute state sets that are definable as unions of convex polyhedra in multidimensional real space. We also present approximation techniques for dealing with systems for which the iterative procedures do not converge.
PHAVer: Algorithmic verification of hybrid systems past HyTech
, 2005
"... In 1995, HyTech broke new ground as a potentially powerful tool for verifying hybrid systems – yet it has remained severely limited in its applicability to more complex systems. We address the main problems of HyTech with PHAVer, a new tool for the exact verification of safety properties of hybrid ..."
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Cited by 217 (9 self)
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In 1995, HyTech broke new ground as a potentially powerful tool for verifying hybrid systems – yet it has remained severely limited in its applicability to more complex systems. We address the main problems of HyTech with PHAVer, a new tool for the exact verification of safety properties of hybrid systems with piecewise constant bounds on the derivatives. Affine dynamics are handled by onthefly overapproximation and by partitioning the state space based on userdefinable constraints and the dynamics of the system. PHAVer’s exact arithmetic is robust due to the use of the Parma Polyhedra Library, which supports arbitrarily large numbers. To manage the complexity of the polyhedral computations, we propose methods to conservatively limit the number of bits and constraints of polyhedra. Experimental results for a navigation benchmark and a tunnel diode circuit show the effectiveness of the approach.
Approximate Reachability Analysis of PiecewiseLinear Dynamical Systems
, 2000
"... . In this paper we describe an experimental system called d=dt for approximating reachable states for hybrid systems whose continuous dynamics is defined by linear differential equations. We use an approximation algorithm whose accumulation of errors during the continuous evolution is much small ..."
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Cited by 140 (31 self)
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. In this paper we describe an experimental system called d=dt for approximating reachable states for hybrid systems whose continuous dynamics is defined by linear differential equations. We use an approximation algorithm whose accumulation of errors during the continuous evolution is much smaller than in previouslyused methods. The d=dt system can, so far, treat nontrivial continuous systems, hybrid systems, convex differential inclusions and controller synthesis problems. 1 Introduction The problem of calculating reachable states for continuous and hybrid systems has emerged as one of the major problems in hybrid systems research [G96,GM98,DM98,KV97,V98,GM99,CK99,PSK99,HHMW99]. It constitutes a prerequisite for exporting algorithmic verification methodology outside discrete systems or hybrid systems with piecewisetrivial dynamics. For computer scientists it poses new challenges in treating continuous functions and their approximations and in applying computational geometry...
Computational Techniques for Hybrid System Verification
 IEEE Trans. on Automatic Control
, 2003
"... Abstract—This paper concerns computational methods for verifying properties of polyhedral invariant hybrid automata (PIHA), which are hybrid automata with discrete transitions governed by polyhedral guards. To verify properties of the state trajectories for PIHA, the planar switching surfaces are p ..."
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Cited by 115 (5 self)
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Abstract—This paper concerns computational methods for verifying properties of polyhedral invariant hybrid automata (PIHA), which are hybrid automata with discrete transitions governed by polyhedral guards. To verify properties of the state trajectories for PIHA, the planar switching surfaces are partitioned to define a finite set of discrete states in an approximate quotient transition system (AQTS). State transitions in the AQTS are determined by the reachable states, or flow pipes, emitting from the switching surfaces according to the continuous dynamics. This paper presents a method for computing polyhedral approximations to flow pipes. It is shown that the flowpipe approximation error can be made arbitrarily small for general nonlinear dynamics and that the computations can be made more efficient for affine systems. The paper also describes CheckMate, a MATLABbased tool for modeling, simulating and verifying properties of hybrid systems based on the computational methods previously described. Index Terms—Hybrid systems, model checking, reachability, verification. I.
Effective Synthesis of Switching Controllers for Linear Systems
, 2000
"... In this work we suggest a novel methodology for synthesizing switching controllers for continuous and hybrid systems whose dynamics are defined by linear differential equations. We formulate the synthesis problem as finding the conditions upon which a controller should switch the behavior of the sys ..."
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Cited by 110 (8 self)
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In this work we suggest a novel methodology for synthesizing switching controllers for continuous and hybrid systems whose dynamics are defined by linear differential equations. We formulate the synthesis problem as finding the conditions upon which a controller should switch the behavior of the system from one "mode" to another in order to avoid a set of bad states, and propose an abstract algorithm which solves the problem by an iterative computation of reachable states. We have implemented a concrete version of the algorithm, which uses a new approximation scheme for reachability analysis of linear systems.
Model Checking in CLP
, 1999
"... We show that Constraint Logic Programming (CLP) can serve as a conceptual basis and as a practical implementation platform for the model checking of infinitestate systems. Our contributions are: (1) a semanticspreserving translation of concurrent systems into CLP programs, (2) a method for verifyi ..."
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Cited by 103 (28 self)
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We show that Constraint Logic Programming (CLP) can serve as a conceptual basis and as a practical implementation platform for the model checking of infinitestate systems. Our contributions are: (1) a semanticspreserving translation of concurrent systems into CLP programs, (2) a method for verifying safety and liveness properties on the CLP programs produced by the translation. We have implemented the method in a CLP system and verified wellknown examples of infinitestate programs over integers, using here linear constraints as opposed to Presburger arithmetic as in previous solutions.
OptorSim  A Grid Simulator for Studying Dynamic Data Replication Strategies
 International Journal of High Performance Computing Applications
, 2003
"... Abstract Computational Grids process large, computationally intensive problems on small data sets. In contrast, Data Grids process large computational problems that in turn require evaluating, mining and producinglarge amounts of data. Replication, creating geographically disparate identical copies ..."
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Cited by 99 (4 self)
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Abstract Computational Grids process large, computationally intensive problems on small data sets. In contrast, Data Grids process large computational problems that in turn require evaluating, mining and producinglarge amounts of data. Replication, creating geographically disparate identical copies of data, is regarded as one of the major optimisationtechniques for reducing data access costs. In this paper, several replication algorithms are discussed. Thesealgorithms were studied using the Grid simulator: OptorSim. OptorSim provides a modular framework within which optimisation strategies can be studied under different Grid configurations. The goal is to explore the stability and transient behaviour of selected optimisationtechniques. We detail the design and implementation of OptorSim andanalyse various replication algorithms based on different Grid workloads. 1 Introduction Within the Grid community much work has been done on providing the basic infrastructure for a typical Grid environment. Globus [3], Condor [1] and recently the EU DataGrid [2] have contributed substantially to core Grid
Linear Parametric Model Checking of Timed Automata
, 2002
"... We present an extension of the model checker Uppaal, capable of synthesizing linear parameter constraints for the correctness of parametric timed automata. A symbolic representation of the (parametric) state space in terms of parametric difference bound matrices is shown to be correct. A second cont ..."
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Cited by 92 (3 self)
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We present an extension of the model checker Uppaal, capable of synthesizing linear parameter constraints for the correctness of parametric timed automata. A symbolic representation of the (parametric) state space in terms of parametric difference bound matrices is shown to be correct. A second contribution of this paper is the identification of a subclass of parametric timed automata (L/U automata), for which the emptiness problem is decidable, contrary to the full class where it is known to be undecidable. Also, we present a number of results that reduce the verification effort for L/U automata in certain cases. We illustrate our approach by deriving linear parameter constraints for a number of wellknown case studies from the literature (exhibiting a flaw in a published paper).
Automatic Verification of Parameterized Cache Coherence Protocols
, 2000
"... We propose a new method for the verification of parameterized cache coherence protocols. Cache coherence protocols are used to maintain data consistency in commercial multiprocessor systems equipped with local fast caches. In our approach we use arithmetic constraints to model possibly infinite sets ..."
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Cited by 89 (6 self)
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We propose a new method for the verification of parameterized cache coherence protocols. Cache coherence protocols are used to maintain data consistency in commercial multiprocessor systems equipped with local fast caches. In our approach we use arithmetic constraints to model possibly infinite sets of global states of a multiprocessor system with many identical caches. In preliminary experiments using symbolic model checkers for infinitestate systems based on real arithmetics (HyTech [HHW97] and DMC [DP99]) we have automatically verified safety properties for parameterized versions of widely implemented writeinvalidate and writeupdate cache coherence policies like the Mesi, Berkeley, Illinois, Firey and Dragon protocols [Han93]. With this application, we show that symbolic model checking tools originally designed for hybrid and concurrent systems can be applied successfully to a new class of infinitestate systems of practical interest.
Spaceex: Scalable verification of hybrid systems
 In Proceedings of the International Conference on Computer Aided Verification
, 2011
"... Abstract. We present a scalable reachability algorithm for hybrid systems with piecewise affine, nondeterministic dynamics. It combines polyhedra and support function representations of continuous sets to compute an overapproximation of the reachable states. The algorithm improves over previous wo ..."
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Cited by 88 (5 self)
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Abstract. We present a scalable reachability algorithm for hybrid systems with piecewise affine, nondeterministic dynamics. It combines polyhedra and support function representations of continuous sets to compute an overapproximation of the reachable states. The algorithm improves over previous work by using variable time steps to guarantee a given local error bound. In addition, we propose an improved approximation model, which drastically improves the accuracy of the algorithm. The algorithm is implemented as part of SpaceEx, a new verification platform for hybrid systems, available at spaceex.imag.fr. Experimental results of full fixedpoint computations with hybrid systems with more than 100 variables illustrate the scalability of the approach. 1