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1. Reachability Set Generation Using Hybrid Relation Compatible Saturation

   https://doi.org/10.1007/978-3-030-61739-4_3  

   Biswal, Shruti ; Miner, Andrew S ( July 2020 , Lecture notes in computer science)

   null ; null (Ed.)

   Generating the state space of any finite discrete-state system using symbolic algorithms like saturation requires the use of decision diagrams or compatible structures for encoding its reachability set and transition relations. For systems that can be formally expressed using ordinary Petri Nets(PN), implicit relations, a static alternative to decision diagram-based representation of transition relations, can significantly improve the performance of saturation. However, in practice, some systems require more general models, such as self-modifying Petri nets, which cannot currently utilize implicit relations and thus use decision diagrams that are repeatedly rebuilt to accommodate the changing bounds of the system variables, potentially leading to overhead in saturation algorithm. This work introduces a hybrid representation for transition relations, that combines decision diagrams and implicit relations, to reduce the rebuilding overheads of the saturation algorithm for a general class of models. Experiments on several benchmark models across different tools demonstrate the efficiency of this representation. 

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2. Strategy Graphs for Influence Diagrams

   https://doi.org/10.1613/jair.1.13865  

   Hansen, Eric A. ; Shi, Jinchuan ; Kastrantas, James ( September 2022 , Journal of Artificial Intelligence Research)

   An influence diagram is a graphical model of a Bayesian decision problem that is solved by finding a strategy that maximizes expected utility. When an influence diagram is solved by variable elimination or a related dynamic programming algorithm, it is traditional to represent a strategy as a sequence of policies, one for each decision variable, where a policy maps the relevant history for a decision to an action. We propose an alternative representation of a strategy as a graph, called a strategy graph, and show how to modify a variable elimination algorithm so that it constructs a strategy graph. We consider both a classic variable elimination algorithm for influence diagrams and a recent extension of this algorithm that has more relaxed constraints on elimination order that allow improved performance. We consider the advantages of representing a strategy as a graph and, in particular, how to simplify a strategy graph so that it is easier to interpret and analyze. 

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3. SOUPS: A Variable Ordering Metric for the Saturation Algorithm

   https://doi.org/10.1109/ACSD.2018.000-4  

   Smith, Benjamin ; Ciardo, Gianfranco ( June 2018 , 2018 18th International Conference on Application of Concurrency to System Design (ACSD) (2018))

   Multivalued decision diagrams are an excellent technique to study the behavior of discrete-state systems such as Petri nets, but their variable order (mapping places to MDD levels) greatly affects efficiency, and finding an optimal order even just to encode a given set is NP-hard. In state-space generation, the situation is even worse, since the set of markings to be encoded keeps evolving and is known only at the end. Previous heuristics to improve the efficiency of the saturation algorithm often used in state-space generation seek a variable order minimizing a simple function of the Petri net, such as the sum over each transition of the top variable position (SOT) or variable span (SOS). This, too, is NP-hard, so we cannot compute orders that minimize SOT or SOS in most cases but, even if we could, it would have limited effectiveness. For example, SOT and SOS can be led astray by multiple copies of a transition (giving more weight to it), or transitions with equal inputs and outputs (giving weight to transitions that should be ignored). These anomalies inspired us to define SOUPS, a new heuristic that only takes into account the \emph{unique} and \emph{productive} portion of each transition. The SOUPS metric can be easily computed, allowing us to use it in standard search techniques like simulated annealing to find good orders. Experiments show that SOUPS is a much better proxy for the quantities we really hope to improve, the memory and time for MDD manipulation during state-space generation. 

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4. Dual Bounds from Decision Diagram-Based Route Relaxations: An Application to Truck-Drone Routing

   https://doi.org/10.1287/trsc.2021.0170  

   Tang, Ziye ; van Hoeve, Willem-Jan ( December 2023 , Transportation Science)

   For vehicle routing problems, strong dual bounds on the optimal value are needed to develop scalable exact algorithms as well as to evaluate the performance of heuristics. In this work, we propose an iterative algorithm to compute dual bounds motivated by connections between decision diagrams and dynamic programming models used for pricing in branch-and-cut-and-price algorithms. We apply techniques from the decision diagram literature to generate and strengthen novel route relaxations for obtaining dual bounds without using column generation. Our approach is generic and can be applied to various vehicle routing problems in which corresponding dynamic programming models are available. We apply our framework to the traveling salesman with drone problem and show that it produces dual bounds competitive to those from the state of the art. Applied to larger problem instances in which the state-of-the-art approach does not scale, our method outperforms other bounding techniques from the literature.

   Funding: This work was supported by the National Science Foundation [Grant 1918102] and the Office of Naval Research [Grants N00014-18-1-2129 and N00014-21-1-2240].

   Supplemental Material: The online appendix is available at https://doi.org/10.1287/trsc.2021.0170 .

    

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5. A Risk-Sensitive Finite-Time Reachability Approach for Safety of Stochastic Dynamic Systems

   https://doi.org/10.23919/ACC.2019.8815169  

   Chapman, Margaret P. ; Lacotte, Jonathan ; Tamar, Aviv ; Lee, Donggun ; Smith, Kevin M. ; Cheng, Victoria ; Fisac, Jaime F. ; Jha, Susmit ; Pavone, Marco ; Tomlin, Claire J. ( July 2019 , American Control Conference)

   A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage existing theory of reachability analysis and risk measures to devise a risk-sensitive reachability approach for safety of stochastic dynamic systems under non-adversarial disturbances over a finite time horizon. Specifically, we first introduce the notion of a risk-sensitive safe set asa set of initial states from which the risk of large constraint violations can be reduced to a required level via a control policy, where risk is quantified using the Conditional Value-at-Risk(CVaR) measure. Second, we show how the computation of a risk-sensitive safe set can be reduced to the solution to a Markov Decision Process (MDP), where cost is assessed according to CVaR. Third, leveraging this reduction, we devise a tractable algorithm to approximate a risk-sensitive safe set and provide arguments about its correctness. Finally, we present a realistic example inspired from stormwater catchment design to demonstrate the utility of risk-sensitive reachability analysis. In particular, our approach allows a practitioner to tune the level of risk sensitivity from worst-case (which is typical for Hamilton-Jacobi reachability analysis) to risk-neutral (which is the case for stochastic reachability analysis). 

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