One Theorem to Rule Them All: A Unified Translation of LTL into {\omega}-Automata

We present a unified translation of LTL formulas into deterministic Rabin automata, limit-deterministic B\"uchi automata, and nondeterministic B\"uchi automata. The translations yield automata of asymptotically optimal size (double or single exponential, respectively). All three translations are derived from one single Master Theorem of purely logical nature. The Master Theorem decomposes the language of a formula into a positive boolean combination of languages that can be translated into {\omega}-automata by elementary means. In particular, Safra's, ranking, and breakpoint constructions used in other translations are not needed

An Efficient Normalisation Procedure for Linear Temporal Logic and Very Weak Alternating Automata

In the mid 80s, Lichtenstein, Pnueli, and Zuck proved a classical theorem stating that every formula of Past LTL (the extension of LTL with past operators) is equivalent to a formula of the form $\bigwedge_{i=1}^n \mathbf{G}\mathbf{F} \varphi_i \vee \mathbf{F}\mathbf{G} \psi_i$, where $\varphi_i$ and $\psi_i$ contain only past operators. Some years later, Chang, Manna, and Pnueli built on this result to derive a similar normal form for LTL. Both normalisation procedures have a non-elementary worst-case blow-up, and follow an involved path from formulas to counter-free automata to star-free regular expressions and back to formulas. We improve on both points. We present a direct and purely syntactic normalisation procedure for LTL yielding a normal form, comparable to the one by Chang, Manna, and Pnueli, that has only a single exponential blow-up. As an application, we derive a simple algorithm to translate LTL into deterministic Rabin automata. The algorithm normalises the formula, translates it into a special very weak alternating automaton, and applies a simple determinisation procedure, valid only for these special automata.Comment: This is the extended version of the referenced conference paper and contains an appendix with additional materia

Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.Comment: Full Version for ECC 201

A Verified and Compositional Translation of LTL to Deterministic Rabin Automata

We present a formalisation of the unified translation approach from linear temporal logic (LTL) to omega-automata from [Javier Esparza et al., 2018]. This approach decomposes LTL formulas into "simple" languages and allows a clear separation of concerns: first, we formalise the purely logical result yielding this decomposition; second, we develop a generic, executable, and expressive automata library providing necessary operations on automata to re-combine the "simple" languages; third, we instantiate this generic theory to obtain a construction for deterministic Rabin automata (DRA). We extract from this particular instantiation an executable tool translating LTL to DRAs. To the best of our knowledge this is the first verified translation of LTL to DRAs that is proven to be double-exponential in the worst case which asymptotically matches the known lower bound

Constraint LTL Satisfiability Checking without Automata

This paper introduces a novel technique to decide the satisfiability of formulae written in the language of Linear Temporal Logic with Both future and past operators and atomic formulae belonging to constraint system D (CLTLB(D) for short). The technique is based on the concept of bounded satisfiability, and hinges on an encoding of CLTLB(D) formulae into QF-EUD, the theory of quantifier-free equality and uninterpreted functions combined with D. Similarly to standard LTL, where bounded model-checking and SAT-solvers can be used as an alternative to automata-theoretic approaches to model-checking, our approach allows users to solve the satisfiability problem for CLTLB(D) formulae through SMT-solving techniques, rather than by checking the emptiness of the language of a suitable automaton A_{\phi}. The technique is effective, and it has been implemented in our Zot formal verification tool.Comment: 39 page

Near-Optimal Scheduling for LTL with Future Discounting

We study the search problem for optimal schedulers for the linear temporal logic (LTL) with future discounting. The logic, introduced by Almagor, Boker and Kupferman, is a quantitative variant of LTL in which an event in the far future has only discounted contribution to a truth value (that is a real number in the unit interval [0, 1]). The precise problem we study---it naturally arises e.g. in search for a scheduler that recovers from an internal error state as soon as possible---is the following: given a Kripke frame, a formula and a number in [0, 1] called a margin, find a path of the Kripke frame that is optimal with respect to the formula up to the prescribed margin (a truly optimal path may not exist). We present an algorithm for the problem; it works even in the extended setting with propositional quality operators, a setting where (threshold) model-checking is known to be undecidable