arXiv subjects

William J. Doyle

Publications and source records attributed to William J. Doyle.

2 recordsLinked to original sources

arXiv2026

Realizability Is Not Enough: Encoding, Liveness, and Auditing of Synthesized Robot Supervisors

High-level robotic supervisors coordinate capabilities whose reported outcomes determine the robot's next action. Reactive synthesis can generate such supervisors with formal guarantees, but deployment requires more than proving a Generalized Reactivity (1) (GR(1)) specification realizable. Designers must encode failure-prone capabilities, choose liveness assumptions that match retry intent, audit strategies, and translate them into robot software. We present an open-source pipeline for Robot Operating System (ROS) 2 Flexible Behavior Engine (FlexBE) supervisors that generates capability-based GR(1) specifications, analyzes assumptions before synthesis, audits strategies, reduces states with a behavior-preservation proof, and emits executable state machines. Across four case studies (six comparisons), including hardware on two quadcopter platforms, we compare enumerated and one-hot encodings and two liveness formulations. Under the tested backend, enumerated encoding usually synthesizes faster, although fewer propositions do not reliably predict smaller controllers or lower symbolic cost. System-Goal without pending memory is the only liveness treatment confirmed to yield executable controllers under both encodings across the reported grid; Fair-Outcome can permit realizable cycles without designer-intended completion. For this backend and model, we recommend enumerated encoding with System-Goal and auditing every realized strategy, since proposition count and realizability do not measure deployability. The auditor is sound and complete for four structural defect classes (protocol violations, deadlocks, bounded-failure violations, goal-unreachable traps) but is not a general liveness verifier, and the reduction preserves capability-level behavior. Together, these stages narrow the gap between formal realizability and controllers that pass protocol and structural-progress checks.

cs.RO↗

arXiv2026

Surface Modification for III-V Selective Area Molecular Beam Epitaxy of Non-Selective Mask Materials

Selective-area embedded regrowth of III-V semiconductors by molecular beam epitaxy enables the seamless integration of metals and dielectrics into crystalline material for novel design of optoelectronic devices. However, traditional masks like $SiO_2$ and $Si_{3}N_{4}$ limit the design of high-contrast photonics in the infrared due to their high extinction coefficients at technologically relevant wavelengths. Consequently, there is a need to explore alternative mask materials to expand the selective area molecular beam epitaxy capabilities beyond those traditionally used. This study evaluates the deposition selectivity of the alternative materials $Al_{2}O_{3}$, $TiO_2$, and $HfO_2$, films with preferable spectral responses but higher surface reactivity. It was found that $Al_{2}O_{3}$ exhibits promising selective growth characteristics within typical GaAs growth temperatures, $HfO_2$ demonstrated a high non-selectivity dominated by Ga adsorption on the mask at temperatures up to 650 $^\circ$C, and $TiO_2$ proved reactive during deposition. To achieve selective growth of highly non-selective and even reactive mask materials, a surface modification technique was employed to improve the selective growth characteristics of any given film. Selective growth of $Si_{3}N_{4}$ and $TiO_2$ films was achieved with the application of a thin $SiO_2$ capping layer utilizing growth conditions typical of the GaAs/$SiO_2$ system. The relationship between the thickness of $SiO_2$ caps and growth selectivity was examined, revealing that sub-1 nm capping layers can significantly influence the mask surface chemistry, indicating that by depositing a thin layer of $SiO_2$, $SiO_2$-like selectivity for any mask material can be realized without degrading its optical response.

cond-mat.mtrl-sci↗