Symbolic Techniques in Satisfiability Solving

Recent work has shown how to use binary decision diagrams for satisfiability solving. The idea of this approach, which we call symbolic quantifier elimination, is to view an instance of propositional satisfiability as an existentially quantified proposition formula. Satisfiability solving then amounts to quantifier elimination; once all quantifiers have been eliminated, we are left with either 1 or 0. Our goal in this work is to study the effectiveness of symbolic quantifier elimination as an approach to satisfiability solving. To that end, we conduct a direct comparison with the DPLL-based ZChaff, as well as evaluate a variety of optimization techniques for the symbolic approach. In comparing the symbolic approach to ZChaff, we evaluate scalability across a variety of classes of formulas. We find that no approach dominates across all classes. While ZChaff dominates for many classes of formulas, the symbolic approach is superior for other classes of formulas. Once we have demonstrated the viability of the symbolic approach, we focus on optimization techniques for this approach. We study techniques from constraint satisfaction for finding a good plan for performing the symbolic operations of conjunction and of existential quantification. We also study various variable-ordering heuristics, finding that while no heuristic seems to dominate across all classes of formulas, the maximum-cardinality search heuristic seems to offer the best overall performance. ★A preliminary version of the paper was presented in SAT'04. Supported in part by NSF grants CCR-9988322, CCR-0124077, CCR-0311326, IIS-9908435, IIS-9978135, EIA-0086264, ANI-0216467, and by BSF grant 9800096.     

Distributed reconfiguration of metamorphic robot chains

The problem we address is the distributed reconfiguration of a planar metamorphic robotic system composed of any number of hexagonal modules. After presenting a framework for classifying motion planning algorithms for metamorphic robotic systems, we describe distributed algorithms for reconfiguring a straight chain of hexagonal modules to any intersecting straight chain configuration. We prove our algorithms are correct, and show that they are either optimal or asymptotically optimal in the number of moves and asymptotically optimal in the time required for parallel reconfiguration.Received: 28 October 2002, Accepted: 31 October 2003, Published online: 1 March 2004 Corresdpondence to: Jennifer E. WalterNancy M. Amato: amato]@cs.tamu.edu A preliminary version of this paper appeared in the Proc. of the 19th ACM Symposium on Principles of Distributed Computing, July 2000, pages 171-180. The work of N. Amato and J. Walter was supported in part by NSF CAREER Award CCR-9624315, NSF Grants IIS-9619850, ACI-9872126, EIA-9975018, EIA-0103742, EIA-9805823, ACR-0081510, ACR-0113971, CCR-0113974, EIA-9810937, EIA-0079874, by the Texas Higher Education Coordinating Board grant ARP-036327-017, and by the DOE ASCI ASAP program grant B347886. The work of J. Walter was supported in part by Department of Education GAANN and GE Faculty of the Future fellowships.     

Experiences with a parallel algorithm for data flow analysis

We have designed a family of parallel data flow analysis algorithms for execution on distributed-memory MIMD machines, based on general-purpose, hybrid algorithms for data flow analysis [Marlowe and Ryder 1990]. We exploit a natural partitioning of the hybrid algorithms and explore a static mapping, dynamic scheduling strategy. Alternative mapping-scheduling choices and refinements of the flow graph condensation used are discussed. Our parallel hybrid algorithm family is illustrated on Reaching Definitions, although parallel algorithms also exist for many interprocedural (e.g., Aliasing) and intraprocedural (e.g., Available Expressions) problems [Marlowe 1989]. We have implemented the parallel hybrid algorithm for Reaching Definitions on an Intel iPSC/2. Our empirical results suggest the practicality of parallel hybrid algorithms.An earlier version of this paper was presented at Supercomputing '90.The research reported here was supported, in part, by the New Jersey Commission on Science and Technology and the CAIP Center's Industrial Members, by Siemens Research Corporation and by National Science Foundation grant CCR-8920078.     

Automated assume-guarantee reasoning for omega-regular systems and specifications

We develop a learning-based automated assume-guarantee (AG) reasoning framework for verifying ω-regular properties of concurrent systems. We study the applicability of non-circular (AG-NC) and circular (AG-C) AG proof rules in the context of systems with infinite behaviors. In particular, we show that AG-NC is incomplete when assumptions are restricted to strictly infinite behaviors, while AG-C remains complete. We present a general formalization, called LAG, of the learning based automated AG paradigm. We show how existing approaches for automated AG reasoning are special instances of LAG. We develop two learning algorithms for a class of systems, called ∞-regular systems, that combine finite and infinite behaviors. We show that for ∞-regular systems, both AG-NC and AG-C are sound and complete. Finally, we show how to instantiate LAG to do automated AG reasoning for ∞-regular, and ω-regular, systems using both AG-NC and AG-C as proof rules.     

Databases with uncertainty and lineage

This paper introduces uldbs, an extension of relational databases with simple yet expressive constructs for representing and manipulating both lineage and uncertainty. Uncertain data and data lineage are two important areas of data management that have been considered extensively in isolation, however many applications require the features in tandem. Fundamentally, lineage enables simple and consistent representation of uncertain data, it correlates uncertainty in query results with uncertainty in the input data, and query processing with lineage and uncertainty together presents computational benefits over treating them separately. We show that the uldb representation is complete, and that it permits straightforward implementation of many relational operations. We define two notions of uldb minimality—data-minimal and lineage-minimal—and study minimization of uldb representations under both notions. With lineage, derived relations are no longer self-contained: their uncertainty depends on uncertainty in the base data. We provide an algorithm for the new operation of extracting a database subset in the presence of interconnected uncertainty. We also show how uldbs enable a new approach to query processing in probabilistic databases. Finally, we describe the current state of the Trio system, our implementation of uldbs under development at Stanford. This work was supported by the National Science Foundation under grants IIS-0324431, IIS-1098447, and IIS-9985114, by DARPA Contract #03-000225, and by a grant from the Boeing Corporation.     

Processor Efficient Parallel Matching

In this paper we consider the problem of finding perfect matchings in parallel. We present a RNC algorithm with almost optimal work with respect to sequential algorithms, i.e., it uses O(n ^ω ) processors, where ω is the matrix multiplication exponent. Our algorithm is based on an RNC algorithm for computing determinant of a degree one polynomial matrix which is of independent interest. Research supported by KBN grant 1P03A01830.     

Choosing a Random Peer in Chord

We present two new algorithms, Arc Length and Peer Count, for choosing a peer uniformly at random from the set of all peers in Chord (Proceedings of the ACM SIGCOMM 2001 Technical Conference, 2001). We show analytically that, in expectation, both algorithms have latency O(log n) and send O(log n) messages. Moreover, we show empirically that the average latency and message cost of Arc Length is 10.01log n and that the average latency and message cost of Peer Count is 20.02log n. To the best of our knowledge, these two algorithms are the first fully distributed algorithms for choosing a peer uniformly at random from the set of all peers in a Distributed Hash Table (DHT). Our motivation for studying this problem is threefold: to enable data collection by statistically rigorous sampling methods; to provide support for randomized, distributed algorithms over peer-to-peer networks; and to support the creation and maintenance of random links, and thereby offer a simple means of improving fault-tolerance. Research of S. Lewis, J. Saia and M. Young was partially supported by NSF grant CCR-0313160 and Sandia University Research Program grant No. 191445.     

Can PAC learning algorithms tolerate random attribute noise?

This paper studies the robustness of PAC learning algorithms when the instance space is {0,1}ⁿ, and the examples are corrupted by purely random noise affecting only the attributes (and not the labels). Foruniform attribute noise, in which each attribute is flipped independently at random with the same probability, we present an algorithm that PAC learns monomials for any (unknown) noise rate less than ₂ ¹ . Contrasting this positive result, we show thatproduct random attribute noise, where each attributei is flipped randomly and independently with its own probability p_i, is nearly as harmful as malicious noise-no algorithm can tolerate more than a very small amount of such noise.The research of S. A. Goldman was supported in part by a GE Foundation Junior Faculty grant and NSF Grant CCR-9110108. Part of this research was conducted while the author was at the M.I.T. Laboratory for Computer Science and supported by NSF Grant DCR-8607494 and a grant from the Siemens Corporation. The research of R. H. Sloan was supported in part by NSF Grant CCR-9108753. Part of this research was conducted while the author was at Harvard and supported by ARO Grant DAAL 03-86-K-0171.     

Symbolic Graphs: Linear Solutions to Connectivity Related Problems

The importance of symbolic data structures such as Ordered Binary Decision Diagrams (OBDD) is rapidly growing in many areas of Computer Science where the large dimensions of the input models is a challenging feature: OBDD based graph representations allowed to define truly new standards in the achievable dimensions for the Model Checking verification technique. However, OBDD representations pose strict constraints in the algorithm design issue. For example, Depth-First Search (DFS) is not feasible in a symbolic framework and, consequently, many state-of-the-art DFS based algorithms (e.g., connectivity procedures) cannot be easily rearranged to work on symbolically represented graphs. We devise here a symbolic algorithmic strategy, based on the new notion of spine-set, that is general enough to be the engine of linear symbolic step algorithms for both strongly connected components and biconnected components. Our procedures improve on previously designed connectivity symbolic algorithms. Moreover, by an application to the so-called “bad cycle detection problem”, our technique can be used to efficiently solve the emptiness problem for various kinds of ω-automata. This work is a revised and extended version of [22,23]. It is partially supported by the projects PRIN 2005015491 and BIOCHECK.     

Practical Methods for Shape Fitting and Kinetic Data Structures using Coresets

The notion of ε-kernel was introduced by Agarwal et al. (J. ACM 51:606–635, 2004) to set up a unified framework for computing various extent measures of a point set P approximately. Roughly speaking, a subset Q⊆P is an ε-kernel of P if for every slab W containing Q, the expanded slab (1+ε)W contains P. They illustrated the significance of ε-kernel by showing that it yields approximation algorithms for a wide range of geometric optimization problems. We present a simpler and more practical algorithm for computing the ε-kernel of a set P of points in ℝ ^d . We demonstrate the practicality of our algorithm by showing its empirical performance on various inputs. We then describe an incremental algorithm for fitting various shapes and use the ideas of our algorithm for computing ε-kernels to analyze the performance of this algorithm. We illustrate the versatility and practicality of this technique by implementing approximation algorithms for minimum enclosing cylinder, minimum-volume bounding box, and minimum-width annulus. Finally, we show that ε-kernels can be effectively used to expedite the algorithms for maintaining extents of moving points. A preliminary version of the paper appeared in Proceedings of the 20th Annual ACM Symposium on Computational Geometry, 2004, pp. 263–272. Research by the first two authors is supported by NSF under grants CCR-00-86013, EIA-98-70724, EIA-01-31905, and CCR-02-04118, and by a grant from the US–Israel Binational Science Foundation. Research by the fourth author is supported by NSF CAREER award CCR-0237431.     

An Algorithm for Strongly Connected Component Analysis in n log n Symbolic Steps

We present a symbolic algorithm for strongly connected component decomposition. The algorithm performs Θ(n log n) image and preimage computations in the worst case, where n is the number of nodes in the graph. This is an improvement over the previously known quadratic bound. The algorithm can be used to decide emptiness of Büchi automata with the same complexity bound, improving Emerson and Lei's quadratic bound, and emptiness of Streett automata, with a similar bound in terms of nodes. It also leads to an improved procedure for the generation of nonemptiness witnesses. This work was supported in part by SRC contract 98-DJ-620 and NSF grant CCR-99-71195. This work was done while the author was at the University of Colorado at Boulder.     

Model Checking with Strong Fairness

In this paper we present a coherent framework for symbolic model checking of linear-time temporal logic (ltl) properties over finite state reactive systems, taking full fairness constraints into consideration. We use the computational model of a fair discrete system (fds) which takes into account both justice (weak fairness) and compassion (strong fairness). The approach presented here reduces the model-checking problem into the question of whether a given fds is feasible (i.e. has at least one computation). The contribution of the paper is twofold: On the methodological level, it presents a direct self-contained exposition of full ltl symbolic model checking without resorting to reductions to either μ-calculus or ctl. On the technical level, it extends previous methods by dealing with compassion at the algorithmic level instead of either adding it to the specification, or transforming compassion to justice. Finally, we extend ctl^∗ with past operators, and show that the basic symbolic feasibility algorithm presented here, can be used to model check an arbitrary ctl^∗ formula over an fds with full fairness constraints. This research was supported in part by an infra-structure grant from the Israeli Ministry of Science and Art, a grant from the U.S.-Israel Binational Science Foundation, and a gift from Intel.     

Models of Greedy Algorithms for Graph Problems

Borodin et al. (Algorithmica 37(4):295–326, 2003) gave a model of greedy-like algorithms for scheduling problems and Angelopoulos and Borodin (Algorithmica 40(4):271–291, 2004) extended their work to facility location and set cover problems. We generalize their model to include other optimization problems, and apply the generalized framework to graph problems. Our goal is to define an abstract model that captures the intrinsic power and limitations of greedy algorithms for various graph optimization problems, as Borodin et al. (Algorithmica 37(4):295–326, 2003) did for scheduling. We prove bounds on the approximation ratio achievable by such algorithms for basic graph problems such as shortest path, weighted vertex cover, Steiner tree, and independent set. For example, we show that, for the shortest path problem, no algorithm in the FIXED priority model can achieve any approximation ratio (even one dependent on the graph size), but the well-known Dijkstra’s algorithm is an optimal ADAPTIVE priority algorithm. We also prove that the approximation ratio for weighted vertex cover achievable by ADAPTIVE priority algorithms is exactly 2. Here, a new lower bound matches the known upper bounds (Johnson in J. Comput. Syst. Sci. 9(3):256–278, 1974). We give a number of other lower bounds for priority algorithms, as well as a new approximation algorithm for minimum Steiner tree problem with weights in the interval [1,2]. S. Davis’ research supported by NSF grants CCR-0098197, CCR-0313241, and CCR-0515332. Views expressed are not endorsed by the NSF. R. Impagliazzo’s research supported by NSF grant CCR-0098197, CCR-0313241, and CCR-0515332. Views expressed are not endorsed by the NSF. Some work done while at the Institute for Advanced Study, supported by the State of New Jersey.     

Verification of evolving software via component substitutability analysis

This paper presents an automated and compositional procedure to solve the substitutability problem in the context of evolving software systems. Our solution contributes two techniques for checking correctness of software upgrades: (1) a technique based on simultaneous use of over-and under-approximations obtained via existential and universal abstractions; (2) a dynamic assume-guarantee reasoning algorithm—previously generated component assumptions are reused and altered on-the-fly to prove or disprove the global safety properties on the updated system. When upgrades are found to be non-substitutable, our solution generates constructive feedback to developers showing how to improve the components. The substitutability approach has been implemented and validated in the ComFoRT reasoning framework, and we report encouraging results on an industrial benchmark. This is an extended version of a paper, Dynamic Component Substitutability Analysis, published in the Proceedings of the Formal Methods 2005 Conference, Lecture Notes in Computer Science, vol. 3582, by the same authors. This research was sponsored by the National Science Foundation under grant nos. CNS-0411152, CCF-0429120, CCR-0121547, and CCR-0098072, the Semiconductor Research Corporation under grant no. TJ-1366, the US Army Research Office under grant no. DAAD19-01-1-0485, the Office of Naval Research under grant no. N00014-01-1-0796, the ICAST project and the Predictable Assembly from Certifiable Components (PACC) initiative at the Software Engineering Institute, Carnegie Mellon University. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of any sponsoring institution, the US government or any other entity.     

On approximating the longest path in a graph

We consider the problem of approximating the longest path in undirected graphs. In an attempt to pin down the best achievable performance ratio of an approximation algorithm for this problem, we present both positive and negative results. First, a simple greedy algorithm is shown to find long paths in dense graphs. We then consider the problem of finding paths in graphs that are guaranteed to have extremely long paths. We devise an algorithm that finds paths of a logarithmic length in Hamiltonian graphs. This algorithm works for a much larger class of graphs (weakly Hamiltonian), where the result is the best possible. Since the hard case appears to be that of sparse graphs, we also consider sparse random graphs. Here we show that a relatively long path can be obtained, thereby partially answering an open problem of Broderet al. To explain the difficulty of obtaining better approximations, we also prove hardness results. We show that, for any ε<1, the problem of finding a path of lengthn-n ^ε in ann-vertex Hamiltonian graph isNP-hard. We then show that no polynomial-time algorithm can find a constant factor approximation to the longest-path problem unlessP=NP. We conjecture that the result can be strengthened to say that, for some constant δ>0, finding an approximation of ration ^δ is alsoNP-hard. As evidence toward this conjecture, we show that if any polynomial-time algorithm can approximate the longest path to a ratio of , for any ε>0, thenNP has a quasi-polynomial deterministic time simulation. The hardness results apply even to the special case where the input consists of bounded degree graphs. D. Karger was supported by an NSF Graduate Fellowship, NSF Grant CCR-9010517, and grants from the Mitsubishi Corporation and OTL. R. Motwani was supported by an Alfred P. Sloan Research Fellowship, an IBM Faculty Development Award, grants from Mitsubishi and OTL, NSF Grant CCR-9010517, and NSF Young Investigator Award CCR-9357849, with matching funds from IBM, the Schlumberger Foundation, the Shell Foundation, and the Xerox Corporation, G. D. S. Ramkumar was supported by a grant from the Toshiba Corporation. Communicated by M. X. Goemans.     

Computation in networks of passively mobile finite-state sensors

The computational power of networks of small resource-limited mobile agents is explored. Two new models of computation based on pairwise interactions of finite-state agents in populations of finite but unbounded size are defined. With a fairness condition on interactions, the concept of stable computation of a function or predicate is defined. Protocols are given that stably compute any predicate in the class definable by formulas of Presburger arithmetic, which includes Boolean combinations of threshold-k, majority, and equivalence modulo m. All stably computable predicates are shown to be in NL. Assuming uniform random sampling of interacting pairs yields the model of conjugating automata. Any counter machine with O(1) counters of capacity O(n) can be simulated with high probability by a conjugating automaton in a population of size n. All predicates computable with high probability in this model are shown to be in P; they can also be computed by a randomized logspace machine in exponential time. Several open problems and promising future directions are discussed. Supported in part by NSF grants CCR-9820888, CCR-0098078, and CNS-0305258 (Aspnes), by ONR grant N00014-01-1-0795 (Diamadi), and by NSF grant CSE-0081823 (Fischer and Peralta). A preliminary version of this paper appeared in the proceedings of the 23rd ACM SIGACT-SIGOPS Symposium on Principles of Distributed Computing, St. John’s, Newfoundland, Canada, July 2004.     

Parallel algorithms for arrangements

We give the first efficient parallel algorithms for solving the arrangement problem. We give a deterministic algorithm for the CREW PRAM which runs in nearly optimal bounds ofO (logn log^* n) time andn ²/logn processors. We generalize this to obtain anO (logn log^* n)-time algorithm usingn ^d /logn processors for solving the problem ind dimensions. We also give a randomized algorithm for the EREW PRAM that constructs an arrangement ofn lines on-line, in which each insertion is done in optimalO (logn) time usingn/logn processors. Our algorithms develop new parallel data structures and new methods for traversing an arrangement.This work was supported by the National Science Foundation, under Grants CCR-8657562 and CCR-8858799, NSF/DARPA under Grant CCR-8907960, and Digital Equipment Corporation. A preliminary version of this paper appeared at the Second Annual ACM Symposium on Parallel Algorithms and Architectures [3].     

Detecting value-based scalar dependence

Precise value-based data dependence analysis for scalars is useful for advanced compiler optimizations. The new method presented here for flow and output dependence uses Factored Use and Def chains (FUD chains), our interpretation and extension of Static Single Assignment. It is precise with respect to conditional control flow and dependence vectors. Our method detects dependences which are independent with respect to arbitrary loop nesting, as well as loop-carried dependences. A loop-carried dependence is further classified as being carried from the previous iteration, with distance 1, or from any previous iteration, with direction <. This precision cannot be achieved by traditional analysis, such as dominator information or reaching definitions. To compute anti- and input dependence, we use Factored Redef-Use chains, which are related to FUD chains. We are not aware of any prior work which explicitly deals with scalar data dependence utilizing a sparse graph representation. A preliminary version of this paper appeared in theSeventh Anual Workshop on Languages and Compilers for Parallel Computing, August 1994. Supported in part by NSF Grant CCR-9113885 and a grant from Intel Corporation and the Oregon Advanced Computing Institute.     

Exponential Lower Bounds for the Running Time of DPLL Algorithms on Satisfiable Formulas

DPLL (for Davis, Putnam, Logemann, and Loveland) algorithms form the largest family of contemporary algorithms for SAT (the propositional satisfiability problem) and are widely used in applications. The recursion trees of DPLL algorithm executions on unsatisfiable formulas are equivalent to treelike resolution proofs. Therefore, lower bounds for treelike resolution (known since the 1960s) apply to them. However, these lower bounds say nothing about the behavior of such algorithms on satisfiable formulas. Proving exponential lower bounds for them in the most general setting is impossible without proving P ≠ NP; therefore, to prove lower bounds, one has to restrict the power of branching heuristics. In this paper, we give exponential lower bounds for two families of DPLL algorithms: generalized myopic algorithms, which read up to n ^1−ε of clauses at each step and see the remaining part of the formula without negations, and drunk algorithms, which choose a variable using any complicated rule and then pick its value at random. ^★Extended abstract of this paper appeared in Proceedings of ICALP 2004, LNCS 3142, Springer, 2004, pp. 84–96. ^†Supported by CCR grant CCR-0324906. ^‡Supported in part by Russian Science Support Foundation, RAS program of fundamental research “Research in principal areas of contemporary mathematics,” and INTAS grant 04-77-7173. ^§Supported in part by INTAS grant 04-77-7173.