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Re: [tulip-control-users] Errors in running TuLip
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From: Mathur, U. <uma...@il...> - 2018-01-25 20:59:09
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Thanks a lot. That was helpful.
I would like to ask couple of more questions :
1. When I run the examples, I get a warning about MOSEK not installed. Is the MOSEK solver required (or is expected to give better performance) for the kind of problem (reach avoid controller synthesis) that I am trying to solve ?
2. I am attaching a slightly modified version of the previous model.
With a different approach (that I have), I am able to synthesis a controller (also attaching a pictorial representation).
However, TuLip reports that the spec is unrealizable. I understand that TuLip does not guarantee completeness. However, I would still like to check if there is any obvious error that I might be making that might have resulted into an "unrealizable" answer. It would be treat if you could take a quick look.
3. I tried to analyze a 4 dimensional system with TuLip. However, I could not get an answer within 30 minutes (after which I forced the program to terminate). The program was still computing a discretization of the system at that point.
Again, is there something that I might be missing. And, are there any known tricks/parameter values that can be tweaked to speedup the analysis
Thanking you in anticipation.
- Umang
________________________________
From: Ioannis Filippidis [jfi...@gm...]
Sent: Thursday, January 25, 2018 5:56 AM
To: Mathur, Umang
Cc: tu...@tu...; Fan, Chuchu; tulip-control-users; Scott C. Livingston; Necmiye Özay
Subject: Re: Errors in running TuLip
A sidenote about the specification: When using `solver='omega'` for synthesis (the default option),
the environment safety assumption can be written also as:
```
env_safe = {
'''
(time < 11 && (time' = time + 1)) ||
(time = 11 && time' = time)
'''
}
```
Any arithmetic formulas over integer variables are supported when using this backend.
When written in this form, the declared range of integer values is in effect
(These two specifications would be inequivalent in absence of this typeness.
Conjoining the constraint `time \in 0..11` would yield one possible untyped version.
Range constraints of the form `x \in a..b` with `a, b` integers are supported by later
versions of `omega`, but not yet via this interface.)
ioannis
On Wed, Jan 24, 2018 at 11:21 PM, Ioannis Filippidis <jfi...@gm...<mailto:jfi...@gm...>> wrote:
Hi Umang,
The error is raised due to the order of arguments, and an API change since v1.3.0.
With the following change (shown after removing trailing whitespace):
--- continuous_reach_avoid_orig.py 2018-01-24 23:06:08.110735358 -0800
+++ continuous_reach_avoid.py 2018-01-24 23:06:29.226873897 -0800
@@ -113,10 +113,15 @@
# @synthesize_section@
# Synthesize
-ctrl = synth.synthesize('omega', specs,
- sys=disc_dynamics.ts, ignore_sys_init=True)
+ctrl = synth.synthesize(
+ specs,
+ sys=disc_dynamics.ts, ignore_sys_init=True,
+ # solver='omega', # default value
+ )
assert ctrl is not None, 'unrealizable'
+ctrl.save('foo.pdf')
+
# @synthesize_section_end@
# Simulation
I obtain a controller after synthesis, using:
- `tulip` at e3de77bc55cef15023e49363787b6c90045819c1 (current branch `master`)
and the corresponding dependency versions that are installed when using `tulip`'s `setup.py`.
I recommend using branch `master`, as you are already doing (newer versions of `networkx`
are supported on a branch that could be merged to `master`).
The API change was to make the `solver` argument a keyword (optional) argument,
instead of the first positional argument.
A graphical representation of the enumerated discrete controller is attached.
Best regards,
Ioannis Filippidis
On Wed, Jan 24, 2018 at 9:46 PM, Necmiye Özay <nec...@gm...<mailto:nec...@gm...>> wrote:
I meant "I am using v1.3, which is the latest release. I have not tried it with the current head of master branch.".
I don't have much experience with v1.4. Ioannis or Scott would know more about the recent changes.
Necmiye
On Thu, Jan 25, 2018 at 12:39 AM, Mathur, Umang <uma...@il...<mailto:uma...@il...>> wrote:
Thanks for the quick response.
I am using tulip-1.4.0 .
Do you recommend that I should use tulip-1.3.0 ?
________________________________
From: Necmiye Ozay [ne...@um...<mailto:ne...@um...>]
Sent: Wednesday, January 24, 2018 11:34 PM
To: Mathur, Umang
Cc: tu...@tu...<mailto:tu...@tu...>; Fan, Chuchu
Subject: Re: Errors in running TuLip
What version of TuLiP are you using? I can run it with TuLiP version 1.3. I have not tried it with the latest release not the current head of master branch.
Necmiye
On Thu, Jan 25, 2018 at 12:27 AM, Mathur, Umang <uma...@il...<mailto:uma...@il...>> wrote:
Hi,
I am trying to run the attached file (shared by Necmiye).
I get the following error :
Traceback (most recent call last):
File "continuous_reach_avoid.py", line 117, in <module>
sys=disc_dynamics.ts, ignore_sys_init=True)
File "/usr/local/lib/python2.7/site-packages/tulip/synth.py", line 1100, in synthesize
ignore_sys_init)
File "/usr/local/lib/python2.7/site-packages/tulip/synth.py", line 1205, in _spec_plus_sys
_copy_options_from_ts(sys_formula, sys, specs)
File "/usr/local/lib/python2.7/site-packages/tulip/synth.py", line 1234, in _copy_options_from_ts
ts_spec.moore = cp.moore
AttributeError: 'str' object has no attribute 'moore'
It would be helpful to know what the problem is.
Regards,
Umang Mathur
CS PhD Student, UIUC
http://umathur3.web.engr.illinois.edu
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