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Combining machine learning and formal methods (FMs) provides a possible solution to overcome the safety issue of autonomous driving (AD) vehicles. However, there are gaps to be bridged before this combination becomes practically applicable and useful. In an attempt to facilitate researchers in both FMs and AD areas, this paper proposes a framework that combines two well-known tools, namely CommonRoad and UPPAAL. On the one hand, CommonRoad can be enhanced by the rigorous semantics of models in UPPAAL, which enables a systematic and comprehensive understanding of the AD system's behaviour and thus strengthens the safety of the system. On the other hand, controllers synthesised by UPPAAL can be visualised by CommonRoad in real-world road networks, which facilitates AD vehicle designers greatly adopting formal models in system design. In this framework, we provide automatic model conversions between CommonRoad and UPPAAL. Therefore, users only need to program in Python and the framework takes care of the formal models, learning, and verification in the backend. We perform experiments to demonstrate the applicability of our framework in various AD scenarios, discuss the advantages of solving motion planning in our framework, and show the scalability limit and possible solutions., Comment: 20 pages, 5 figures, ISoLA 2024

Bloom filter is a compact memory-efficient probabilistic data structure supporting membership testing, i.e., to check whether an element is in a given set. However, as Bloom filter maps each element with uniformly random hash functions, few flexibilities are provided even if the information of negative keys (elements are not in the set) are available. The problem gets worse when the misidentification of negative keys brings different costs. To address the above problems, we propose a new Hash Adaptive Bloom Filter (HABF) that supports the customization of hash functions for keys. The key idea of HABF is to customize the hash functions for positive keys (elements are in the set) to avoid negative keys with high cost, and pack customized hash functions into a lightweight data structure named HashExpressor. Then, given an element at query time, HABF follows a two-round pattern to check whether the element is in the set. Further, we theoretically analyze the performance of HABF and bound the expected false positive rate. We conduct extensive experiments on representative datasets, and the results show that HABF outperforms the standard Bloom filter and its cutting-edge variants on the whole in terms of accuracy, construction time, query time, and memory space consumption (Note that source codes are available in [1])., Comment: 11 pages, accepted by ICDE 2021

Finding or monitoring subgraph instances that are isomorphic to a given pattern graph in a data graph is a fundamental query operation in many graph analytic applications, such as network motif mining and fraud detection. The state-of-the-art distributed methods are inefficient in communication. They have to shuffle partial matching results during the distributed multiway join. The partial matching results may be much larger than the data graph itself. To overcome the drawback, we develop the Batch-BENU framework (B-BENU) for distributed subgraph enumeration. B-BENU executes a group of local search tasks in parallel. Each task enumerates subgraphs around a vertex in the data graph, guided by a backtracking-based execution plan. B-BENU does not shuffle any partial matching result. Instead, it stores the data graph in a distributed database. Each task queries adjacency sets of the data graph on demand. To support dynamic data graphs, we propose the concept of incremental pattern graphs and turn continuous subgraph enumeration into enumerating incremental pattern graphs at each time step. We develop the Streaming-BENU framework (S-BENU) to enumerate their matches efficiently. We implement B-BENU and S-BENU with the local database cache and the task splitting techniques. The extensive experiments show that B-BENU and S-BENU can scale to big data graphs and complex pattern graphs. They outperform the state-of-the-art methods by up to one and two orders of magnitude, respectively., Comment: Modify some terms;Fix typos; Unify line styles in Fig. 13 and Fig. 14