1.

Basic solution: To avoid two radars interference, we can make each radars start in different location while both of them keep on moving with the same velocity.

Interference occurs when two radars are facing each other or the angle between both of them is 180 degrees.

To avoid this event the angle of two radars should be maintained below 180 degrees (1 - 2 < 180).The example initial location for both radars are shown as follow:

To make the model simpler we can also make the radar always face the same direction, and moving with the same velocity.

This model is implemented in UPPAAL as follow:

Consider that we have three states the first state is checking state. In checking state we check the angle between Radar1 and Radar2, if the angle between those two radars are smaller than 180 degrees the radar go to rotate state. In the model the degree is change to clock value.

The velocity of both radars is 6 rpm, it means the period for one rotation is 10 seconds. To avoid the interference we maintain the difference degree between two radars below half rotation period. Assume x is clock value for radar1 and y is clock value for radar2. The half period rotation is five seconds, therefore the system should maintain:

x-y<5

In this state flow we use the angle checking as a guard. The system can move to rotate state if the property x-y<5 (or the difference between two radar is half period or more). This property guarantee radar1 and radar2 will not ever facing each other after rotating.

To check this condition we use property:

E<> Radar.rotate

this property is satisfied

And we check if interference location is reachable or not, the result is interference location is not reachable. E<> Radar.interference

the result is interference location is not reachable.

Exercise 2. Now, the rotation speed cannot be controlled exactly, but only within certain boundaries: you can set the the desired speed is set to, say, n rotations per minute, but then the actual speed is between n - 1 and n + 1 rotations per minute. You may assume that the actual speed is constant, i.e. does not change once it is set; you just do not know the exact value to which it is set. (1) Adjust your solution to accommodate this situation. Describe your solution in words. (2) Create a Uppaal model for your solution. (3) Give a clear explanation of your Uppaal model (incl. the meaning of your variables). (4) Formulate the correctness property in TCTL. (5) Check that your model satisfies your property.

The velocity cannot be controlled exactly, but still within the certain boundaries. Assume the velocity of two radars remains the same even the actual value is not known exactly. The principle of this model is the same with, that the difference position of the radar should be maintained below 180 degrees. Therefore: Velocity(in degree/second) *(x-y) < 180 (v*360/60) (x-y)<180 x-y < 180/(v*360/60) x-y< 30/v

The model is checked by the same property as exercise1:

E<> Radar.rotate

this property is satisfied

And we check if interference location is reachable or not, the result is interference location is not reachable. E<> Radar.interference the result is interference location is not reachable.