Carlos Varela

Dylan Le, Joel McCandless, Carlos Varela et al.

This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction through cost minimization, optimal controllers are often challenging to assure. In particular, as system dynamics grow in complexity, solving the resulting optimization problem may be difficult, especially given time and computation constraints on real platforms. Thus, it is essential to verify that, even if the optimal solution is not always found, such controllers still accomplish the high-level control objective. In this paper, we focus on gradient descent algorithms and design a reachability algorithm by treating gradient descent as a separate (digital) dynamical system, embedded in the original (physical) dynamical system, with controls as part of the state. We evaluate the feasibility of the proposed method on two control systems, a two-dimensional quadrotor and a cartpole.

Mateo Sanabria, Carlos Varela, Camilo Rocha et al.

In the rewriting logic framework, equational-based specifications are used to define deterministic functional behavior, abstract data types, and canonical representations of data. These specifications include a (possibly order-sorted) signature and equations interpreted modulo structural axioms, such as associativity, commutativity, and identity. While equational rewriting provides a powerful basis for execution and symbolic reasoning, it does not by itself offer native support for inductive or deductive reasoning. This paper presents maude2athena, a framework that systematically translates Maude's equational theories into Athena, a theorem proving language designed to support natural deduction proofs over many-sorted first-order logic specifications, including inductive reasoning, equational chaining, case-based reasoning, and proofs by contradiction. The translation supports induction-based reasoning modulo structural axioms with parametric induction rules; it faithfully encodes membership equational logic in a many-sorted setting without exponential blowup under reasonable conditions. This approach preserves the semantics of the original specification, while ensuring that the translation remains compact and amenable to deductive reasoning. This work helps bridge the gap between model checking and theorem proving, enabling formal verification efforts that can benefit from both of these approaches.

Saswata Paul, Stacy Patterson, Carlos Varela

Autonomous air traffic management (ATM) operations for urban air mobility (UAM) will necessitate the use of distributed protocols for decentralized coordination between aircraft. As UAM operations are time-critical, it will be imperative to have formal guarantees of progress for the distributed protocols used in ATM. Under asynchronous settings, message transmission and processing delays are unbounded, making it impossible to provide deterministic bounds on the time required to make progress. We present an approach for formally guaranteeing timely progress in a Two-Phase Acknowledge distributed knowledge propagation protocol by probabilistically modeling the delays using theories of the Multicopy Two-Hop Relay protocol and the M/M/1 queue system. The guarantee states a probabilistic upper bound to the time for progress as a function of the probabilities of the total transmission and processing delays being less than two given values. We also showcase the development of a library of formal theories, that is tailored towards reasoning about timely progress in distributed protocols deployed in airborne networks, in the Athena proof assistant.