The Complexity of Enriched Mu-Calculi

The fully enriched μ-calculus is the extension of the propositional μ-calculus with inverse programs, graded modalities, and nominals. While satisfiability in several expressive fragments of the fully enriched μ-calculus is known to be decidable and ExpTime-complete, it has recently been proved that the full calculus is undecidable. In this paper, we study the fragments of the fully enriched μ-calculus that are obtained by dropping at least one of the additional constructs. We show that, in all fragments obtained in this way, satisfiability is decidable and ExpTime-complete. Thus, we identify a family of decidable logics that are maximal (and incomparable) in expressive power. Our results are obtained by introducing two new automata models, showing that their emptiness problems are ExpTime-complete, and then reducing satisfiability in the relevant logics to these problems. The automata models we introduce are two-way graded alternating parity automata over infinite trees (2GAPTs) and fully enriched automata (FEAs) over infinite forests. The former are a common generalization of two incomparable automata models from the literature. The latter extend alternating automata in a similar way as the fully enriched μ-calculus extends the standard μ-calculus.Comment: A preliminary version of this paper appears in the Proceedings of the 33rd International Colloquium on Automata, Languages and Programming (ICALP), 2006. This paper has been selected for a special issue in LMC

Disjunctive bases: normal forms and model theory for modal logics

We present the concept of a disjunctive basis as a generic framework for normal forms in modal logic based on coalgebra. Disjunctive bases were defined in previous work on completeness for modal fixpoint logics, where they played a central role in the proof of a generic completeness theorem for coalgebraic mu-calculi. Believing the concept has a much wider significance, here we investigate it more thoroughly in its own right. We show that the presence of a disjunctive basis at the "one-step" level entails a number of good properties for a coalgebraic mu-calculus, in particular, a simulation theorem showing that every alternating automaton can be transformed into an equivalent nondeterministic one. Based on this, we prove a Lyndon theorem for the full fixpoint logic, its fixpoint-free fragment and its one-step fragment, a Uniform Interpolation result, for both the full mu-calculus and its fixpoint-free fragment, and a Janin-Walukiewicz-style characterization theorem for the mu-calculus under slightly stronger assumptions. We also raise the questions, when a disjunctive basis exists, and how disjunctive bases are related to Moss' coalgebraic "nabla" modalities. Nabla formulas provide disjunctive bases for many coalgebraic modal logics, but there are cases where disjunctive bases give useful normal forms even when nabla formulas fail to do so, our prime example being graded modal logic. We also show that disjunctive bases are preserved by forming sums, products and compositions of coalgebraic modal logics, providing tools for modular construction of modal logics admitting disjunctive bases. Finally, we consider the problem of giving a category-theoretic formulation of disjunctive bases, and provide a partial solution

Enriched MU-Calculi Module Checking

The model checking problem for open systems has been intensively studied in the literature, for both finite-state (module checking) and infinite-state (pushdown module checking) systems, with respect to Ctl and Ctl*. In this paper, we further investigate this problem with respect to the \mu-calculus enriched with nominals and graded modalities (hybrid graded Mu-calculus), in both the finite-state and infinite-state settings. Using an automata-theoretic approach, we show that hybrid graded \mu-calculus module checking is solvable in exponential time, while hybrid graded \mu-calculus pushdown module checking is solvable in double-exponential time. These results are also tight since they match the known lower bounds for Ctl. We also investigate the module checking problem with respect to the hybrid graded \mu-calculus enriched with inverse programs (Fully enriched \mu-calculus): by showing a reduction from the domino problem, we show its undecidability. We conclude with a short overview of the model checking problem for the Fully enriched Mu-calculus and the fragments obtained by dropping at least one of the additional constructs

Named Models in Coalgebraic Hybrid Logic

Hybrid logic extends modal logic with support for reasoning about individual states, designated by so-called nominals. We study hybrid logic in the broad context of coalgebraic semantics, where Kripke frames are replaced with coalgebras for a given functor, thus covering a wide range of reasoning principles including, e.g., probabilistic, graded, default, or coalitional operators. Specifically, we establish generic criteria for a given coalgebraic hybrid logic to admit named canonical models, with ensuing completeness proofs for pure extensions on the one hand, and for an extended hybrid language with local binding on the other. We instantiate our framework with a number of examples. Notably, we prove completeness of graded hybrid logic with local binding

Completeness of Flat Coalgebraic Fixpoint Logics

Modal fixpoint logics traditionally play a central role in computer science, in particular in artificial intelligence and concurrency. The mu-calculus and its relatives are among the most expressive logics of this type. However, popular fixpoint logics tend to trade expressivity for simplicity and readability, and in fact often live within the single variable fragment of the mu-calculus. The family of such flat fixpoint logics includes, e.g., LTL, CTL, and the logic of common knowledge. Extending this notion to the generic semantic framework of coalgebraic logic enables covering a wide range of logics beyond the standard mu-calculus including, e.g., flat fragments of the graded mu-calculus and the alternating-time mu-calculus (such as alternating-time temporal logic ATL), as well as probabilistic and monotone fixpoint logics. We give a generic proof of completeness of the Kozen-Park axiomatization for such flat coalgebraic fixpoint logics.Comment: Short version appeared in Proc. 21st International Conference on Concurrency Theory, CONCUR 2010, Vol. 6269 of Lecture Notes in Computer Science, Springer, 2010, pp. 524-53

PSPACE Bounds for Rank-1 Modal Logics

For lack of general algorithmic methods that apply to wide classes of logics, establishing a complexity bound for a given modal logic is often a laborious task. The present work is a step towards a general theory of the complexity of modal logics. Our main result is that all rank-1 logics enjoy a shallow model property and thus are, under mild assumptions on the format of their axiomatisation, in PSPACE. This leads to a unified derivation of tight PSPACE-bounds for a number of logics including K, KD, coalition logic, graded modal logic, majority logic, and probabilistic modal logic. Our generic algorithm moreover finds tableau proofs that witness pleasant proof-theoretic properties including a weak subformula property. This generality is made possible by a coalgebraic semantics, which conveniently abstracts from the details of a given model class and thus allows covering a broad range of logics in a uniform way

Monadic Second-Order Logic and Bisimulation Invariance for Coalgebras

Generalizing standard monadic second-order logic for Kripke models, we introduce monadic second-order logic interpreted over coalgebras for an arbitrary set functor. Similar to well-known results for monadic second-order logic over trees, we provide a translation of this logic into a class of automata, relative to the class of coalgebras that admit a tree-like supporting Kripke frame. We then consider invariance under behavioral equivalence of formulas; more in particular, we investigate whether the coalgebraic mu-calculus is the bisimulation-invariant fragment of monadic second-order logic. Building on recent results by the third author we show that in order to provide such a coalgebraic generalization of the Janin-Walukiewicz Theorem, it suffices to find what we call an adequate uniform construction for the functor. As applications of this result we obtain a partly new proof of the Janin-Walukiewicz Theorem, and bisimulation invariance results for the bag functor (graded modal logic) and all exponential polynomial functors. Finally, we consider in some detail the monotone neighborhood functor, which provides coalgebraic semantics for monotone modal logic. It turns out that there is no adequate uniform construction for this functor, whence the automata-theoretic approach towards bisimulation invariance does not apply directly. This problem can be overcome if we consider global bisimulations between neighborhood models: one of our main technical results provides a characterization of the monotone modal mu-calculus extended with the global modalities, as the fragment of monadic second-order logic for the monotone neighborhood functor that is invariant for global bisimulations

Game-Based Local Model Checking for the Coalgebraic mu-Calculus

The coalgebraic mu-calculus is a generic framework for fixpoint logics with varying branching types that subsumes, besides the standard relational mu-calculus, such diverse logics as the graded mu-calculus, the monotone mu-calculus, the probabilistic mu-calculus, and the alternating-time mu-calculus. In the present work, we give a local model checking algorithm for the coalgebraic mu-calculus using a coalgebraic variant of parity games that runs, under mild assumptions on the complexity of the so-called one-step satisfaction problem, in time p^k where p is a polynomial in the formula and model size and where k is the alternation depth of the formula. We show moreover that under the same assumptions, the model checking problem is in both NP and coNP, improving the complexity in all mentioned non-relational cases. If one-step satisfaction can be solved by means of small finite games, we moreover obtain standard parity games, ensuring quasi-polynomial run time. This applies in particular to the monotone mu-calculus, the alternating-time mu-calculus, and the graded mu-calculus with grades coded in unary