arXiv subjects

Einar Broch Johnsen

Publications and source records attributed to Einar Broch Johnsen.

At least 19 recordsLinked to original sources

arXiv2026

Incremental Fingerprinting in an Open World

Network protocol fingerprinting is used to identify a protocol implementation by analyzing its input-output behavior. Traditionally, fingerprinting operates under a closed-world assumption, where models of all implementations are assumed to be available. However, this assumption is unrealistic in practice. When this assumption does not hold, fingerprinting results in numerous misclassifications without indicating that a model for an implementation is missing. Therefore, we introduce an open-world variant of the fingerprinting problem, where not all models are known in advance. We propose an incremental fingerprinting approach to solve the problem by combining active automata learning with closed-world fingerprinting. Our approach quickly determines whether the implementation under consideration matches an available model using fingerprinting and conformance checking. If no match is found, it learns a new model by exploiting the structure of available models. We prove the correctness of our approach and improvements in asymptotic complexity compared to naive baselines. Moreover, experimental results on a variety of protocols demonstrate a significant reduction in misclassifications and interactions with these black-boxes.

cs.CR↗

arXiv2026

ORB: An Open Radio Buoy for Coastal Water Measurements

Oceanographic instrumentation technology is currently under rapid transition towards increasingly open-source technology. Open-source buoys compete with commercial and closed-source buoys both in price, functionality and availability. Long-range radio (LoRa) is a communication technology which is inexpensive both in terms of data transfer cost and power without the need for pre-existing infrastructure. In this paper, we present ORB, an open-source drifter buoy using LoRa for coastal water measurements. ORB is designed to be reliable, low-cost, modifiable and power efficient. We present validation experiments demonstrating that ORB can achieve a radio telemetry range of five kilometers, and has an expected battery lifetime of up to seven months, owing largely to a the radio telemetry which operates at the low power consumption of 7 mA. Finally, we discuss the role and contribution of ORB in the space of open-source instrumentation and ocean modeling.

physics.ao-ph↗

arXiv2026

Correct and Complete Symbolic Execution for Free

Symbolic execution is a powerful technique for program analysis. However, the formal semantics underlying symbolic execution is often developed on an ad-hoc basis and decoupled from the concrete semantics of the programming language. To overcome this issue, we introduce symbolic SOS: a rule format that allows us to simultaneously specify concrete and symbolic operational semantics. We prove that symbolic semantics, when generated from symbolic SOS, is both correct and complete with respect to the corresponding concrete semantics. The approach relies only on an algebraic signature of the source language, and is thus language-independent.

cs.PL↗

arXiv2026

Attribution-based Explanations for Markov Decision Processes

Attribution techniques explain the outcome of an AI model by assigning a numerical score to its inputs. So far, these techniques have mainly focused on attributing importance to static input features at a single point in time, and thus fail to generalize to sequential decision-making settings. This paper fills this gap by introducing techniques to generate attribution-based explanations for Markov Decision Processes (MDPs). We give a formal characterization of what attributions should represent in MDPs, focusing on explanations that assign importance scores to both individual states and execution paths. We show how importance scores can be computed by leveraging techniques for strategy synthesis, enabling the efficient computation of these scores despite the non-determinism inherent in an MDP. We evaluate our approach on five case-studies, demonstrating its utility in providing interpretable insights into the logic of sequential decision-making agents.

cs.AI↗

arXiv2026

Semantically Reflected Programs

This paper addresses the dichotomy between the formalization of structural and the formalization of behavioral knowledge by means of semantically lifted programs, which explore an intuitive connection between programs and knowledge graphs. While knowledge graphs and ontologies are eminently useful to represent formal knowledge about a system's individuals and universals, programming languages are designed to describe the system's evolution. To address this dichotomy, we introduce a semantic lifting of the program states of an executing program into a knowledge graph, for an object-oriented programming language. The resulting graph is exposed as a semantic reflection layer within the programming language, allowing programmers to leverage knowledge of the application domain in their programs. In this paper, we formalize semantic lifting and semantic reflection for a small programming language, SMOL, explain the operational aspects of the language, and consider type correctness and virtualisation for runtime program queries through the semantic reflection layer. We illustrate semantic lifting and semantic reflection through a case study of geological modelling and discuss different applications of the technique. The language implementation is open source and available online.

cs.PL↗

arXiv2026

Automata Learning versus Process Mining: The Case for User Journeys

With the servitization of business, understanding how users experience services becomes a crucial success factor for companies. Therefore, there is a need to include feedback from user experiences in the software engineering process. Behavioral models of user journeys, describing how users experience their interaction with a service, can provide insights and potentially improve services. In this paper, we investigate techniques that allow the automatic generation of behavioral models from user interactions with a service, recorded in an event log. We first compare two established techniques that generate behavioral models from a given event log: automata learning and process mining. Afterward, we present a novel, hybrid method that combines both automata learning and process mining methods to overcome their limitations. For the existing techniques, we present methods to learn models of user journeys and evaluate the accuracy of the resulting models. We then compare these techniques with our novel method for the automatic extraction of user journey models from the event logs of digital services. We assess the practical applicability of all techniques by evaluating real-world applications. Our results show that process mining techniques rely on expert knowledge, while automata learning techniques depend on the distribution of events in the given event log. We further show that the proposed hybrid technique combines the strengths of both process mining and automata learning, automatically selecting the best method and parameter settings for a given event log to learn very accurate models.

cs.SE↗

arXiv2026

Beyond the Control Equations: An Artifact Study of Implementation Quality in Robot Control Software

A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in software introduces complexities that are often overlooked. Controllers are often designed in continuous space, while the software is executed in discrete space, undermining some of the theoretical guarantees. Despite extensive research on control theory and control modeling, little attention has been paid to the implementations of controllers and how their theoretical guarantees are ensured in real-world software systems. We investigate 184 real-world controller implementations in open-source robot software. We examine their application context, the implementation characteristics, and the testing methods employed to ensure correctness. We find that the implementations often handle discretization in an ad hoc manner, leading to potential issues with real-time reliability. Challenges such as timing inconsistencies, lack of proper error handling, and inadequate consideration of real-time constraints further complicate matters. Testing practices are superficial, no systematic verification of theoretical guarantees is used, leaving possible inconsistencies between expected and actual behavior. Our findings highlight the need for improved implementation guidelines and rigorous verification techniques to ensure the reliability and safety of robotic controllers in practice.

cs.SE↗

arXiv2025

Behavior Trees and State Machines in Robotics Applications

Autonomous robots combine skills to form increasingly complex behaviors, called missions. While skills are often programmed at a relatively low abstraction level, their coordination is architecturally separated and often expressed in higher-level languages or frameworks. State machines have been the go-to language to model behavior for decades, but recently, behavior trees have gained attention among roboticists. Although several implementations of behavior trees are in use, little is known about their usage and scope in the real world.How do concepts offered by behavior trees relate to traditional languages, such as state machines? How are concepts in behavior trees and state machines used in actual applications? This paper is a study of the key language concepts in behavior trees as realized in domain-specific languages (DSLs), internal and external DSLs offered as libraries, and their use in open-source robotic applications supported by the Robot Operating System (ROS). We analyze behavior-tree DSLs and compare them to the standard language for behavior models in robotics:state machines. We identify DSLs for both behavior-modeling languages, and we analyze five in-depth.We mine open-source repositories for robotic applications that use the analyzed DSLs and analyze their usage. We identify similarities between behavior trees and state machines in terms of language design and the concepts offered to accommodate the needs of the robotics domain. We observed that the usage of behavior-tree DSLs in open-source projects is increasing rapidly. We observed similar usage patterns at model structure and at code reuse in the behavior-tree and state-machine models within the mined open-source projects. We contribute all extracted models as a dataset, hoping to inspire the community to use and further develop behavior trees, associated tools, and analysis techniques.

cs.RO↗

arXiv2025

Counterfactual Strategies for Markov Decision Processes

Counterfactuals are widely used in AI to explain how minimal changes to a model's input can lead to a different output. However, established methods for computing counterfactuals typically focus on one-step decision-making, and are not directly applicable to sequential decision-making tasks. This paper fills this gap by introducing counterfactual strategies for Markov Decision Processes (MDPs). During MDP execution, a strategy decides which of the enabled actions (with known probabilistic effects) to execute next. Given an initial strategy that reaches an undesired outcome with a probability above some limit, we identify minimal changes to the initial strategy to reduce that probability below the limit. We encode such counterfactual strategies as solutions to non-linear optimization problems, and further extend our encoding to synthesize diverse counterfactual strategies. We evaluate our approach on four real-world datasets and demonstrate its practical viability in sophisticated sequential decision-making tasks.

cs.AI↗

arXiv2025

BedreFlyt: Improving Patient Flows through Hospital Wards with Digital Twins

Digital twins are emerging as a valuable tool for short-term decision-making as well as for long-term strategic planning across numerous domains, including process industry, energy, space, transport, and healthcare. This paper reports on our ongoing work on designing a digital twin to enhance resource planning, e.g., for the in-patient ward needs in hospitals. By leveraging executable formal models for system exploration, ontologies for knowledge representation and an SMT solver for constraint satisfiability, our approach aims to explore hypothetical "what-if" scenarios to improve strategic planning processes, as well as to solve concrete, short-term decision-making tasks. Our proposed solution uses the executable formal model to turn a stream of arriving patients, that need to be hospitalized, into a stream of optimization problems, e.g., capturing daily inpatient ward needs, that can be solved by SMT techniques. The knowledge base, which formalizes domain knowledge, is used to model the needed configuration in the digital twin, allowing the twin to support both short-term decision-making and long-term strategic planning by generating scenarios spanning average-case as well as worst-case resource needs, depending on the expected treatment of patients, as well as ranging over variations in available resources, e.g., bed distribution in different rooms. We illustrate our digital twin architecture by considering the problem of bed bay allocation in a hospital ward.

cs.AI↗

arXiv2025

ROSA: A Knowledge-based Solution for Robot Self-Adaptation

Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require distinct task logic and architectural configurations. To address this, robotic systems can be designed as self-adaptive systems capable of adapting their task execution and software architecture at runtime based on their context.This paper introduces ROSA, a novel knowledge-based framework for RObot Self-Adaptation, which enables task-and-architecture co-adaptation (TACA) in robotic systems. ROSA achieves this by providing a knowledge model that captures all application-specific knowledge required for adaptation and by reasoning over this knowledge at runtime to determine when and how adaptation should occur. In addition to a conceptual framework, this work provides an open-source ROS 2-based reference implementation of ROSA and evaluates its feasibility and performance in an underwater robotics application. Experimental results highlight ROSA's advantages in reusability and development effort for designing self-adaptive robotic systems.

cs.AI↗

arXiv2025

Symbolic State Partitioning for Reinforcement Learning

Tabular reinforcement learning methods cannot operate directly on continuous state spaces. One solution for this problem is to partition the state space. A good partitioning enables generalization during learning and more efficient exploitation of prior experiences. Consequently, the learning process becomes faster and produces more reliable policies. However, partitioning introduces approximation, which is particularly harmful in the presence of nonlinear relations between state components. An ideal partition should be as coarse as possible, while capturing the key structure of the state space for the given problem. This work extracts partitions from the environment dynamics by symbolic execution. We show that symbolic partitioning improves state space coverage with respect to environmental behavior and allows reinforcement learning to perform better for sparse rewards. We evaluate symbolic state space partitioning with respect to precision, scalability, learning agent performance and state space coverage for the learnt policies.

cs.LG↗

arXiv2024

Towards a Proof System for Probabilistic Dynamic Logic

Whereas the semantics of probabilistic languages has been extensively studied, specification languages for their properties have received less attention -- with the notable exception of recent and on-going efforts by Joost-Pieter Katoen and collaborators. In this paper, we revisit probabilistic dynamic logic (pDL), a specification logic for programs in the probabilistic guarded command language (pGCL) of McIver and Morgan. Building on dynamic logic, pDL can express both first-order state properties and probabilistic reachability properties. In this paper, we report on work in progress towards a deductive proof system for pDL. This proof system, in line with verification systems for dynamic logic such as KeY, is based on forward reasoning by means of symbolic execution.

cs.LO↗

arXiv2024

Risk-Averse Planning and Plan Assessment for Marine Robots

Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models (for scalability reasons), which in practice leads to plans that might be unreliable or under performing in practice. An optimal abstract plan may turn out suboptimal or unreliable during physical execution. To overcome this, we introduce a method that first generates a selection of diverse high-level plans and then assesses them in a low-level simulation to select the optimal and most reliable candidate. We evaluate the method using a realistic underwater robot simulation, estimating the risk metrics for different scenarios, demonstrating feasibility and effectiveness of the approach.

cs.RO↗

arXiv2024

Formal Modelling and Analysis of a Self-Adaptive Robotic System

Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem handling the domain concerns and a managing subsystem implementing the adaptation logic. We consider a case study of a self-adaptive robotic system; more concretely, an autonomous underwater vehicle (AUV) used for pipeline inspection. In this paper, we model and analyse it with the feature-aware probabilistic model checker ProFeat. The functionalities of the AUV are modelled in a feature model, capturing the AUV's variability. This allows us to model the managed subsystem of the AUV as a family of systems, where each family member corresponds to a valid feature configuration of the AUV. The managing subsystem of the AUV is modelled as a control layer capable of dynamically switching between such valid feature configurations, depending both on environmental and internal conditions. We use this model to analyse probabilistic reward and safety properties for the AUV.

cs.LO↗

arXiv2023

Symbolic Semantics for Probabilistic Programs (extended version)

We present a new symbolic execution semantics of probabilistic programs that include observe statements and sampling from continuous distributions. Building on Kozen's seminal work, this symbolic semantics consists of a countable collection of measurable functions, along with a partition of the state space. We use the new semantics to provide a full correctness proof of symbolic execution for probabilistic programs. We also implement this semantics in the tool symProb, and illustrate its use on examples.

cs.PL↗

arXiv2023

Predicting Resource Consumption of Kubernetes Container Systems using Resource Models

Cloud computing has radically changed the way organisations operate their software by allowing them to achieve high availability of services at affordable cost. Containerized microservices is an enabling technology for this change, and advanced container orchestration platforms such as Kubernetes are used for service management. Despite the flourishing ecosystem of monitoring tools for such orchestration platforms, service management is still mainly a manual effort. The modeling of cloud computing systems is an essential step towards automatic management, but the modeling of cloud systems of such complexity remains challenging and, as yet, unaddressed. In fact modeling resource consumption will be a key to comparing the outcome of possible deployment scenarios. This paper considers how to derive resource models for cloud systems empirically. We do so based on models of deployed services in a formal modeling language with explicit CPU and memory resources; once the adherence to the real system is good enough, formal properties can be verified in the model. Targeting a likely microservices application, we present a model of Kubernetes developed in Real-Time ABS. We report on leveraging data collected empirically from small deployments to simulate the execution of higher intensity scenarios on larger deployments. We discuss the challenges and limitations that arise from this approach, and identify constraints under which we obtain satisfactory accuracy.

cs.SE↗

arXiv2023

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly separates the application and self-adaptation concerns. The exemplar focuses on a mission for underwater pipeline inspection by a single AUV, implemented as a ROS2-based system. This mission must be completed while simultaneously accounting for uncertainties such as thruster failures and unfavorable environmental conditions. The paper discusses how SUAVE can be used with different self-adaptation frameworks, illustrated by an experiment using the Metacontrol framework to compare AUV behavior with and without self-adaptation. The experiment shows that the use of Metacontrol to adapt the AUV during its mission improves its performance when measured by the overall time taken to complete the mission or the length of the inspected pipeline.

cs.RO↗