arXiv subjects

Luigi Palopoli

Publications and source records attributed to Luigi Palopoli.

47 records · Page 3Linked to original sources

arXiv2016

An Analytical Solution for Probabilistic Guarantees of Reservation Based Soft Real-Time Systems

We show a methodology for the computation of the probability of deadline miss for a periodic real-time task scheduled by a resource reservation algorithm. We propose a modelling technique for the system that reduces the computation of such a probability to that of the steady state probability of an infinite state Discrete Time Markov Chain with a periodic structure. This structure is exploited to develop an efficient numeric solution where different accuracy/computation time trade-offs can be obtained by operating on the granularity of the model. More importantly we offer a closed form conservative bound for the probability of a deadline miss. Our experiments reveal that the bound remains reasonably close to the experimental probability in one real-time application of practical interest. When this bound is used for the optimisation of the overall Quality of Service for a set of tasks sharing the CPU, it produces a good sub-optimal solution in a small amount of time.

cs.PF↗

arXiv2016

Hybrid Feedback Path Following for Robotic Walkers via Bang-Bang Control Actions

We show a control algorithm to guide a robotic walking assistant along a planned path. The control strategy exploits the electromechanical brakes mounted on the back wheels of the walker. In order to reduce the hardware requirements we adopt a Bang Bang approach relying of four actions (with saturated value for the braking torques).When the platform is far away from the path, we execute an approach phase in which the walker converges toward the platform with a specified angle. When it comes in proximity of the platform, the control strategy switches to a path tracking mode, which uses the four control actions to converge toward the path with an angle which is a function of the state. This way it is possible to control the vehicle in feedback, secure a gentle convergence of the user to the planned path and her steady progress towards the destination.

cs.RO↗

arXiv2016

Follow, listen, feel and go: alternative guidance systems for a walking assistance device

In this paper, we propose several solutions to guide an older adult along a safe path using a robotic walking assistant (the c-Walker). We consider four different possibilities to execute the task. One of them is mechanical, with the c-Walker playing an active role in setting the course. The other ones are based on tactile or acoustic stimuli, and suggest a direction of motion that the user is supposed to take on her own will. We describe the technological basis for the hardware components implementing the different solutions, and show specialized path following algorithms for each of them. The paper reports an extensive user validation activity with a quantitative and qualitative analysis of the different solutions. In this work, we test our system just with young participants to establish a safer methodology that will be used in future studies with older adults.

cs.RO↗

arXiv2015

Real-Time scheduling: from hard to soft real-time systems

Real-time systems are traditionally classified into hard real-time and soft real-time: in the first category we have safety critical real-time systems where missing a deadline can have catastrophic consequences, whereas in the second class we find systems or which we need to optimise the Quality of service provided to the user. However, the frontier between these two classes is thinner than one may think, and many systems that were considered as hard real-time in the past should now be reconsidered under a different light. In this paper we shall first recall the fundamental notion of time-predictability and criticality, in order to understand where the real-time deadlines that we use in our theoretical models come from. We shall then introduce the model of a soft real-time system and present one popular method for scheduling hard and soft real-time tasks, the resource reservation framework. Finally, we shall show how resource reservation techniques can be successfully applied to the design of classical control systems, thus adding robustness to the system and increasing resource utilisation and performance.

cs.OS↗

arXiv2014

Non-Transferable Utility Coalitional Games via Mixed-Integer Linear Constraints

Coalitional games serve the purpose of modeling payoff distribution problems in scenarios where agents can collaborate by forming coalitions in order to obtain higher worths than by acting in isolation. In the classical Transferable Utility (TU) setting, coalition worths can be freely distributed amongst agents. However, in several application scenarios, this is not the case and the Non-Transferable Utility setting (NTU) must be considered, where additional application-oriented constraints are imposed on the possible worth distributions. In this paper, an approach to define NTU games is proposed which is based on describing allowed distributions via a set of mixed-integer linear constraints applied to an underlying TU game. It is shown that such games allow non-transferable conditions on worth distributions to be specified in a natural and succinct way. The properties and the relationships among the most prominent solution concepts for NTU games that hold when they are applied on (mixed-integer) constrained games are investigated. Finally, a thorough analysis is carried out to assess the impact of issuing constraints on the computational complexity of some of these solution concepts.

cs.GT↗

arXiv2013

On the Tractability of Minimal Model Computation for Some CNF Theories

Designing algorithms capable of efficiently constructing minimal models of CNFs is an important task in AI. This paper provides new results along this research line and presents new algorithms for performing minimal model finding and checking over positive propositional CNFs and model minimization over propositional CNFs. An algorithmic schema, called the Generalized Elimination Algorithm (GEA) is presented, that computes a minimal model of any positive CNF. The schema generalizes the Elimination Algorithm (EA) [BP97], which computes a minimal model of positive head-cycle-free (HCF) CNF theories. While the EA always runs in polynomial time in the size of the input HCF CNF, the complexity of the GEA depends on the complexity of the specific eliminating operator invoked therein, which may in general turn out to be exponential. Therefore, a specific eliminating operator is defined by which the GEA computes, in polynomial time, a minimal model for a class of CNF that strictly includes head-elementary-set-free (HEF) CNF theories [GLL06], which form, in their turn, a strict superset of HCF theories. Furthermore, in order to deal with the high complexity associated with recognizing HEF theories, an "incomplete" variant of the GEA (called IGEA) is proposed: the resulting schema, once instantiated with an appropriate elimination operator, always constructs a model of the input CNF, which is guaranteed to be minimal if the input theory is HEF. In the light of the above results, the main contribution of this work is the enlargement of the tractability frontier for the minimal model finding and checking and the model minimization problems.

cs.AI↗

arXiv2013

Outlying Property Detection with Numerical Attributes

The outlying property detection problem is the problem of discovering the properties distinguishing a given object, known in advance to be an outlier in a database, from the other database objects. In this paper, we analyze the problem within a context where numerical attributes are taken into account, which represents a relevant case left open in the literature. We introduce a measure to quantify the degree the outlierness of an object, which is associated with the relative likelihood of the value, compared to the to the relative likelihood of other objects in the database. As a major contribution, we present an efficient algorithm to compute the outlierness relative to significant subsets of the data. The latter subsets are characterized in a "rule-based" fashion, and hence the basis for the underlying explanation of the outlierness.

cs.LG↗

arXiv2010

On the Complexity of Core, Kernel, and Bargaining Set

Coalitional games are mathematical models suited to analyze scenarios where players can collaborate by forming coalitions in order to obtain higher worths than by acting in isolation. A fundamental problem for coalitional games is to single out the most desirable outcomes in terms of appropriate notions of worth distributions, which are usually called solution concepts. Motivated by the fact that decisions taken by realistic players cannot involve unbounded resources, recent computer science literature reconsidered the definition of such concepts by advocating the relevance of assessing the amount of resources needed for their computation in terms of their computational complexity. By following this avenue of research, the paper provides a complete picture of the complexity issues arising with three prominent solution concepts for coalitional games with transferable utility, namely, the core, the kernel, and the bargaining set, whenever the game worth-function is represented in some reasonable compact form (otherwise, if the worths of all coalitions are explicitly listed, the input sizes are so large that complexity problems are---artificially---trivial). The starting investigation point is the setting of graph games, about which various open questions were stated in the literature. The paper gives an answer to these questions, and in addition provides new insights on the setting, by characterizing the computational complexity of the three concepts in some relevant generalizations and specializations.

cs.GT↗

arXiv2009

On the complexity of identifying Head Elementary Set Free programs

Head-elementary-set-free programs were proposed in (Gebser et al. 2007) and shown to generalize over head-cycle-free programs while retaining their nice properties. It was left as an open problem in (Gebser et al. 2007) to establish the complexity of identifying head-elementary-set-free programs. This note solves the open problem, by showing that the problem is complete for co-NP.

cs.LO↗

arXiv2005

Outlier Detection by Logic Programming

The development of effective knowledge discovery techniques has become in the recent few years a very active research area due to the important impact it has in several relevant application areas. One interesting task thereof is that of singling out anomalous individuals from a given population, e.g., to detect rare events in time-series analysis settings, or to identify objects whose behavior is deviant w.r.t. a codified standard set of "social" rules. Such exceptional individuals are usually referred to as outliers in the literature. Recently, outlier detection has also emerged as a relevant KR&R problem. In this paper, we formally state the concept of outliers by generalizing in several respects an approach recently proposed in the context of default logic, for instance, by having outliers not being restricted to single individuals but, rather, in the more general case, to correspond to entire (sub)theories. We do that within the context of logic programming and, mainly through examples, we discuss its potential practical impact in applications. The formalization we propose is a novel one and helps in shedding some light on the real nature of outliers. Moreover, as a major contribution of this work, we illustrate the exploitation of minimality criteria in outlier detection. The computational complexity of outlier detection problems arising in this novel setting is thoroughly investigated and accounted for in the paper as well. Finally, we also propose a rewriting algorithm that transforms any outlier detection problem into an equivalent inference problem under the stable model semantics, thereby making outlier computation effective and realizable on top of any stable model solver.

cs.AI↗

arXiv2001

On the complexity of inducing categorical and quantitative association rules

Inducing association rules is one of the central tasks in data mining applications. Quantitative association rules induced from databases describe rich and hidden relationships holding within data that can prove useful for various application purposes (e.g., market basket analysis, customer profiling, and others). Even though such association rules are quite widely used in practice, a thorough analysis of the computational complexity of inducing them is missing. This paper intends to provide a contribution in this setting. To this end, we first formally define quantitative association rule mining problems, which entail boolean association rules as a special case, and then analyze their computational complexities, by considering both the standard cases, and a some special interesting case, that is, association rule induction over databases with null values, fixed-size attribute set databases, sparse databases, fixed threshold problems.

cs.CC↗