String languages recognizable in (deterministic) log-space are characterized
either by two-way (deterministic) multi-head automata, or following Immerman,
by first-order logic with (deterministic) transitive closure. Here we elaborate
this result, and match the number of heads to the arity of the transitive
closure. More precisely, first-order logic with k-ary deterministic transitive
closure has the same power as deterministic automata walking on their input
with k heads, additionally using a finite set of nested pebbles. This result is
valid for strings, ordered trees, and in general for families of graphs having
a fixed automaton that can be used to traverse the nodes of each of the graphs
in the family. Other examples of such families are grids, toruses, and
rectangular mazes. For nondeterministic automata, the logic is restricted to
positive occurrences of transitive closure.
The special case of k=1 for trees, shows that single-head deterministic
tree-walking automata with nested pebbles are characterized by first-order
logic with unary deterministic transitive closure. This refines our earlier
result that placed these automata between first-order and monadic second-order
logic on trees.Comment: Paper for Logical Methods in Computer Science, 27 pages, 1 figur