to the subclass of free-choice STGs, which offers a good compromise between expressive power and analizability. In the last years, polynomial time synthesis techniques have been developed for free-choice STGs, but they assume that the STG has a consistent binary encoding. This paper presents the first polynomial

to the subclass of free-choice STGs, which offers a good compromise between expressive power and analizability. In the last years, polynomial time synthesis techniques have been developed for free-choice STGs, but they assume that the STG has a consistent binary encoding. This paper presents the first polynomial

been devoted to the subclass of free-choice STGs, which offers a good compromise between expressive power and analizability. In the last years, polynomial time synthesis techniques have been developed for free-choice STGs, but they assume that the STG has a consistent binary encoding. This paper

computational rule, the sum-product algorithm operates in factor graphs to compute---either exactly or approximately---various marginal functions by distributed message-passing in the graph. A wide variety of algorithms developed in artificial intelligence, signal processing, and digital communications can

We describe finite-state programs over real-numbered time in a guarded-command language with real-valued clocks or, equivalently, as finite automata with real-valued clocks. Model checking answers the question which states of a real-time program satisfy a branching-time specification (given

on the ordering of decision variables in the graph. Although a function requires, in the worst case, a graph of size exponential in the number of arguments, many of the functions encountered in typical applications have a more reasonable representation. Our algorithms have time complexity proportional

The modern science of networks has brought significant advances to our understanding of complex systems. One of the most relevant features of graphs representing real systems is community structure, or clustering, i. e. the organization of vertices in clusters, with many edges joining vertices

Symbolic Model Checking [3, 14] has proven to be a powerful technique for the verification of reactive systems. BDDs [2] have traditionally been used as a symbolic representation of the system. In this paper we show how boolean decision procedures, like Stalmarck's Method [16] or the Davis

I would like to thank my supervisor Prof. Javier Esparza for his support and constant advices. The comments and encouragements given by him were invaluable to the completion of this thesis. I also want to recognize the kind support received from Dipl.Inf. Claus Schröter and Dipl.Inf. Alin Stefanescu. Many thanks to the staff members of FMI for the amiable environment of work. Finally I thank my parents and brother for their constant support and love. Without them I would not have reached this point in my life. This work is dedicated to them. 2 Table of contents

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning