Online Test Synthesis From Requirements: Enhancing Reinforcement Learning with Game Theory

We consider the automatic online synthesis of black-box test cases from functional requirements specified as automata for reactive implementations. The goal of the tester is to reach some given state, so as to satisfy a coverage criterion, while monitoring the violation of the requirements. We develop an approach based on Monte Carlo Tree Search, which is a classical technique in reinforcement learning for efficiently selecting promising inputs. Seeing the automata requirements as a game between the implementation and the tester, we develop a heuristic by biasing the search towards inputs that are promising in this game. We experimentally show that our heuristic accelerates the convergence of the Monte Carlo Tree Search algorithm, thus improving the performance of testing.

Conflict-Based Search for Connected Multi-Agent Path Finding

We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire execution must be monitored by a human operator. We re-visit the conflict-based search algorithm known for MAPF, and define a variant where conflicts arise from disconnections rather than collisions. We study optimizations, and give experimental results in which we compare our algorithms with the literature.

Reachability and Coverage Planning for Connected Agents: Extended Version

Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and the connectivity constraints of the agents. We study the theoretical complexity of the reachability and the coverage problems of a fleet of connected agents on various classes of topological graphs. We establish the complexity of these problems on known classes, and introduce a new class called sight-moveable graphs which admit efficient algorithms.