This paper concerns decision problems related to finite monoids of rational matrices. We show that determining finiteness of a given finitely presented monoid is in PSpace, improving the known coNExp^NP bound. We also show that the membership problem for finite matrix monoids is PSpace-complete, improving the known NExp-upper bound. Our two complexity results are corollaries of a new polynomial bit-size bound on matrix entries in finite monoids. This is obtained by reduction to the case of matrix groups, using the structure theory of noncommutative algebras and of matrix monoids. Our techniques also give us a polynomial-time algorithm for deciding whether a monoid of rational matrices is conjugate to a monoid of integer matrices.

A rationally dynamically algebraic (RDA) power series is one that arises as (a component of) the solution of a system of differential equations of the form $\boldsymbol{y}' = F(\boldsymbol{y})$, where $F$ is a vector of rational functions that is defined at $\boldsymbol{y}(0)$. RDA power series subsume algebraic power series and are a proper subclass of differentially algebraic power series (those that satisfy a univariate polynomial-differential equation). We give a combinatorial characterisation of RDA power series in terms of exponential generating functions of regular languages of labelled trees. Motivated by this connection, we define the notion of a differential tree automaton. Differential tree automata generalise weighted tree automata by allowing the transition weights to be rational functions of the tree size. Our main result is that the ordinary generating functions of the formal tree series recognised by differential tree automata are exactly the differentially algebraic power series. The proof of this result establishes a general form of recurrence satisfied by the sequence of coefficients of a differentially algebraic power series, generalising Reutenauer's matrix representation of polynomially recursive sequences. As a corollary we obtain a procedure for determining equality of differential tree automata.

The Skolem Problem asks to determine whether a given linear recurrence sequence (LRS) \(\langle u_n \rangle_{n=0}^\infty\) over the integers has a zero term, that is, whether there exists \(n\) such that \(u_n = 0\). Decidability of the problem is open in general, with the most notable positive result being a decision procedure for LRS of order at most \(4\).

It is known how to compute the Zariski closure of a finitely generated monoid of matrices and, more generally, of a set of matrices specified by a regular language. This result was recently used to give a procedure to compute all polynomial invariants of a given affine program. Decidability of the more general problem of computing all polynomial invariants of affine programs with recursive procedure calls remains open. Mathematically speaking, the core challenge is to compute the Zariski closure of a set of matrices defined by a context-free language. In this paper, we approach the problem from two sides: Towards decidability, we give a procedure to compute the Zariski closure of sets of matrices given by one-counter languages (that is, languages accepted by one-dimensional vector addition systems with states and zero tests), a proper subclass of context-free languages. On the other side, we show that the problem becomes undecidable for indexed languages, a natural extension of context-free languages corresponding to nested pushdown automata. One of our main technical tools is a novel adaptation of Simon’s factorization forests to infinite monoids of matrices.

The Skolem Problem asks to determine whether a given linear recurrence sequence (LRS) has a zero term. Showing decidability of this problem is equivalent to giving an effective proof of the Skolem-Mahler-Lech Theorem, which asserts that a non-degenerate LRS has finitely many zeros. The latter result was proven over 90 years ago via an ineffective method showing that such an LRS has only finitely many p-adic zeros. In this paper we consider the problem of determining whether a given LRS has a p-adic zero, as well as the corresponding function problem of computing exact representations of all p-adic zeros. We present algorithms for both problems and report on their implementation. The output of the algorithms is unconditionally correct, and termination is guaranteed subject to the p-adic Schanuel Conjecture (a standard number-theoretic hypothesis concerning the p-adic exponential function). While these algorithms do not solve the Skolem Problem, they can be exploited to find natural-number and rational zeros under additional hypotheses. To illustrate this, we apply our results to show decidability of the Simultaneous Skolem Problem (determine whether two coprime linear recurrences have a common natural-number zero), again subject to the p-adic Schanuel Conjecture.

Computational problems concerning the orbit of a point under the action of a matrix group occur throughout computer science, including in program analysis, complexity theory, quantum computation, and automata theory. In many cases the focus extends beyond orbits proper to orbit closures under a suitable topology. Typically one starts from a group and a set of points and asks questions about the orbit closure of the set under the action of the group, e.g., whether two given orbit closures intersect. In this paper we consider a collection of what we call determination problems concerning matrix groups and orbit closures. These problems begin with a given variety and seek to understand whether and how it arises either as an algebraic matrix group or as an orbit closure. The how question asks whether the underlying group is s -generated, meaning it is topologically generated by s matrices for a given number s . Among other applications, problems of this type have recently been studied in the context of synthesising loops subject to certain specified invariants on program variables. Our main result is a polynomial-space procedure that inputs a variety and a number s and determines whether the given variety arises as an orbit closure of a point under an s -generated commutative algebraic matrix group. The main tools in our approach are structural properties of commutative algebraic matrix groups and module theory. We leave open the question of determining whether a variety is an orbit closure of a point under an s -generated algebraic matrix group (without the requirement of commutativity).

We revisit a game from the literature that characterizes the probabilistic bisimilarity distances of a labelled Markov chain. We illustrate how an optimal policy of the game can explain these distances. Like the games that characterize bisimilarity and probabilistic bisimilarity, the game is played on pairs of states and matches transitions of those states. To obtain more convincing and interpretable explanations than those provided by generic optimal policies, we restrict to optimal policies that delay reaching observably inequivalent state pairs for as long as possible (called 1-maximal) while quickly reaching equivalent ones (called 0-minimal). We present iterative algorithms that compute 1-maximal and 0-minimal policies and prove an exponential lower bound for the number of iterations of the algorithm that computes 1-maximal policies.

We consider reachability problems for linear dynamical systems. In dimension d these problems are specified by respective semialgebraic sets S, T ⊆ ℝdof source and target states and a matrix $M \in {\mathbb{Q}^{d \times d}}$. The task is to determine whether there is a point in S whose orbit under M intersects the target T in at least m distinct points. The case m = 1 (mere reachability) can be reduced to mild generalisations of the Skolem and Positivity Problems for linear recurrence sequences, whose decidability has been open for many decades. The situation is markedly different for multiple reachability, where m can be greater than one. In this paper, we prove that multiple reachability is undecidable already in dimension d = 10 with fixed multiplicity m = 9. Since our undecidability construction also shows that decision procedures for dimension d ∈ {3, … , 9} would entail significant new results on effective solutions of Diophantine equations, we subsequently focus on the case d = 2, that is, multiple reachability in the plane. Here we obtain two positive results. We show that multiple reachability is decidable if the matrix M is a rotation and it is also decidable without restriction on M for halfplane targets. The former result relies on a theorem in arithmetic geometry, due to Bombieri and Zannier, concerning intersections of algebraic subgroups with subvarieties.

The Skolem Problem asks to determine whether a given integer linear recurrence sequence (LRS) has a zero term. This problem, whose decidability has been open for many decades, arises across a wide range of topics in computer science, including loop termination, formal languages, automata theory, and probabilistic model checking, amongst many others. In the present paper, we introduce a notion of "large" zeros of (non-degenerate) linear recurrence sequences, i.e., zeros occurring at an index larger than a sixth-fold exponential of the size of the data defining the given LRS . We establish two main results. First, we show that large zeros are very sparse: the set of positive integers that can possibly arise as large zeros of some LRS has null density. This in turn immediately yields a Universal Skolem Set of density one, answering a question left open in the literature. Second, we define an infinite set of prime numbers, termed "good", having density one amongst all prime numbers, with the following property: for any large zero of a given LRS, there is an interval around the large zero together with an upper bound on the number of good primes possibly present in that interval. The bound in question is much lower than one would expect if good primes were distributed similarly as ordinary prime numbers, as per the Cramér model in number theory. We therefore conjecture that large zeros do not exist, which would entail decidability of the Skolem Problem.

We prove that for any integers α, β > 1, the existential fragment of the first-order theory of the structure ⟨ℤ; 0,1,<, +,αℕ,ßℕ⟩ is decidable (where αℕ is the set of positive integer powers of α, and likewise for βℕ). On the other hand, we show by way of hardness that decidability of the existential fragment of the theory of ⟨ℕ; 0,1,<, +,x ↦ αx,x ↦ βχ⟩ for any multiplicatively independent α, β > 1 would lead to mathematical breakthroughs regarding base-α and base-β expansions of certain transcendental numbers. Finally, modifying the original proof of Hieronymi and Schulz we show that for any multiplicatively independent α, β > 1, it is undecidable whether a given formula with at most 3 alternating blocks of quantifiers holds in ⟨ℕ;0,1,<, +,αℕ,ßℕ⟩.

The Monniaux Problem in abstract interpretation asks, roughly speaking, whether the following question is decidable: Given a program P , a safety (e.g., non-reachability) specification \(\varphi\) , and an abstract domain of invariants \(\mathcal {D}\) , does there exist an inductive invariant \(\mathcal {I}\) in \(\mathcal {D}\) guaranteeing that program P meets its specification φ? The Monniaux Problem is of course parameterised by the classes of programs and invariant domains that one considers. In this article, we show that the Monniaux Problem is undecidable for unguarded affine programs and semilinear invariants (unions of polyhedra). Moreover, we show that decidability is recovered in the important special case of simple linear loops.

For which unary predicates P 1 , … , P m is the MSO theory of the structure 〈 N ; < , P 1 , … , P m 〉 decidable? We survey the state of the art, leading us to investigate combinatorial properties of almost-periodic, morphic, and toric words. In doing so, we show that if each P i can be generated by a toric dynamical system of a certain kind, then the attendant MSO theory is decidable. We give various applications of toric words, including the recent result of [1] that the MSO theory of 〈 N ; < , { 2 n : n ∈ N } , { 3 n : n ∈ N } 〉 is decidable.

A linear constraint loop is specified by a system of linear inequalities that define the relation between the values of the program variables before and after a single execution of the loop body. In this paper we consider the problem of determining whether such a loop terminates, i.e., whether all maximal executions are finite, regardless of how the loop is initialised and how the non-determinism in the loop body is resolved. We focus on the variant of the termination problem in which the loop variables range over ℝ. Our main result is that the termination problem is decidable over the reals in dimension 2. A more abstract formulation of our main result is that it is decidable whether a binary relation on ℝ² that is given as a conjunction of linear constraints is well-founded.

We consider numbers of the form S_β(u): = ∑_{n=0}^∞ (u_n)/(βⁿ), where u = ⟨u_n⟩_{n=0}^∞ is an infinite word over a finite alphabet and β ∈ ℂ satisfies |β| > 1. Our main contribution is to present a combinatorial criterion on u, called echoing, that implies that S_β(u) is transcendental whenever β is algebraic. We show that every Sturmian word is echoing, as is the Tribonacci word, a leading example of an Arnoux-Rauzy word. We furthermore characterise ̅{ℚ}-linear independence of sets of the form {1, S_β(u₁),…,S_β(u_k)}, where u₁,…,u_k are Sturmian words having the same slope. Finally, we give an application of the above linear independence criterion to the theory of dynamical systems, showing that for a contracted rotation on the unit circle with algebraic slope, its limit set is either finite or consists exclusively of transcendental elements other than its endpoints 0 and 1. This confirms a conjecture of Bugeaud, Kim, Laurent, and Nogueira.

We investigate the decidability of the monadic second-order (MSO) theory of the structure (N; <, P1,…,Pk), for various unary predicates P1,…,Pk ⊆ N. We focus in particular on 'arithmetic' predicates arising in the study of linear recurrence sequences, such as fixed-base powers Powk = {kn : n ∈ N}, k-th powers Nk = {nk : n ∈ N}, and the set of terms of the Fibonacci sequence Fib = {0, 1, 2, 3, 5, 8, 13,…} (and similarly for other linear recurrence sequences having a single, non-repeated, dominant characteristic root). We obtain several new unconditional and conditional decidability results, a select sample of which are the following:

The matrix semigroup membership problem asks, given square matrices $M,M_1,\ldots,M_k$ of the same dimension, whether $M$ lies in the semigroup generated by $M_1,\ldots,M_k$. It is classical that this problem is undecidable in general but decidable in case $M_1,\ldots,M_k$ commute. In this paper we consider the problem of whether, given $M_1,\ldots,M_k$, the semigroup generated by $M_1,\ldots,M_k$ contains a non-negative matrix. We show that in case $M_1,\ldots,M_k$ commute, this problem is decidable subject to Schanuel's Conjecture. We show also that the problem is undecidable if the commutativity assumption is dropped. A key lemma in our decidability result is a procedure to determine, given a matrix $M$, whether the sequence of matrices $(M^n)_{n\geq 0}$ is ultimately nonnegative. This answers a problem posed by S. Akshay (arXiv:2205.09190). The latter result is in stark contrast to the notorious fact that it is not known how to determine effectively whether for any specific matrix index $(i,j)$ the sequence $(M^n)_{i,j}$ is ultimately nonnegative (which is a formulation of the Ultimate Positivity Problem for linear recurrence sequences).

Abstract We introduce the notion of porous invariants for multipath affine loops over the integers. These are invariants definable in (fragments of) Presburger arithmetic and, as such, lack certain tame geometrical properties, such a convexity and connectedness. Nevertheless, we show that in many cases such invariants can be automatically synthesised, and moreover can be used to settle reachability questions for various non-trivial classes of affine loops and target sets. For the class of $$\mathbb {Z}$$ Z -linear invariants (those defined as conjunctions of linear equations with integer coefficients), we show that a strongest such invariant can be computed in polynomial time. For the more general class of $$\mathbb {N}$$ N -semi-linear invariants (those defined as Boolean combinations of linear inequalities with integer coefficients), such a strongest invariant need not exist. Here we show that for point targets the existence of a separating invariant is undecidable in general. However we show that such separating invariants can be computed either by restricting the number of program variables or by restricting from multipath to single-path loops. Additionally, we consider porous targets, represented as $$\mathbb {Z}$$ Z -semi-linear sets (those defined as Boolean combinations of equations with integer coefficients). We show that an invariant can be computed providing the target spans the whole space. We present our tool porous, which computes porous invariants.

We introduce the class of P-finite automata. These are a generalisation of weighted automata, in which the weights of transitions can depend polynomially on the length of the input word. P-finite automata can also be viewed as simple tail-recursive programs in which the arguments of recursive calls can non-linearly refer to a variable that counts the number of recursive calls. The nomenclature is motivated by the fact that over a unary alphabet P-finite automata compute so-called P-finite sequences, that is, sequences that satisfy a linear recurrence with polynomial coefficients. Our main result shows that P-finite automata can be learned in polynomial time in Angluin’s MAT exact learning model. This generalises the classical results that deterministic finite automata and weighted automata over a field are respectively polynomial-time learnable in the MAT model.

Hypergeometric sequences are rational-valued sequences that satisfy first-order linear recurrence relations with polynomial coefficients; that is, a hypergeometric sequence is one that satisfies a recurrence of the form f(n)un = g(n)un − 1 where .

In this paper we obtain complexity bounds for computational problems on algebraic power series over several commuting variables. The power series are specified by systems of polynomial equations: a formalism closely related to weighted context-free grammars. We focus on three problems—decide whether a given algebraic series is identically zero, determine whether all but finitely many coefficients are zero, and compute the coefficient of a specific monomial. We relate these questions to well-known computational problems on arithmetic circuits and thereby show that all three problems lie in the counting hierarchy. Our main result improves the best known complexity bound on deciding zeroness of an algebraic series. This problem is known to lie in PSPACE by reduction to the decision problem for the existential fragment of the theory of real closed fields. Here we show that the problem lies in the counting hierarchy by reduction to the problem of computing the degree of a polynomial given by an arithmetic circuit. As a corollary we obtain new complexity bounds on multiplicity equivalence of context-free grammars restricted to a bounded language, language inclusion of a non-deterministic finite automaton in an unambiguous context-free grammar, and language inclusion of a non-deterministic context-free grammar in an unambiguous finite automaton.

The Positivity Problem for linear recurrence sequences over a ring R of real algebraic numbers is to determine, given an LRS ${\left( {{u_n}} \right)_{n \in \mathbb{N}}}$ over R, whether un≥ 0 for all n. It is known to be Turing-equivalent to the following reachability problem: given a linear dynamical system (M, s) Rd×d×Rdand a halfspace H ⊆ ℝd, determine whether the orbit ${\left( {{M^n}s} \right)_{n \in \mathbb{N}}}$ ever enters H. The more general model-checking problem for LDS is to determine, given (M, s) and an ω-regular property φ over semialgebraic predicates T1,…, Tℓ⊆ ℝd, whether the orbit of (M, s) satisfies φ.In this paper, we establish the following1)The Positivity Problem for LRS over real algebraic numbers reduces to the Positivity Problem for LRS over the integers; and2)The model-checking problem for LDS with diagonalisable M is decidable subject to a Positivity oracle for simple LRS over the integers.In other words, the full semialgebraic model-checking problem for diagonalisable linear dynamical systems is no harder than the Positivity Problem for simple integer linear recurrence sequences. This is in sharp contrast with the situation for arbitrary (not necessarily diagonalisable) LDS and arbitrary (not necessarily simple) integer LRS, for which no such correspondence is expected to hold.

We consider the problem of deciding the existence of real roots of real-valued exponential polynomials with algebraic coefficients. Such functions arise as solutions of linear differential equations with real algebraic coefficients. We focus on two problems: theZero Problem, which asks whether an exponential polynomial has a real root, and theInfinite Zeros Problem, which asks whether such a function has infinitely many real roots. Our main result is that for differential equations of order at most 8 the Zero Problem is decidable, subject to Schanuel’s Conjecture, while the Infinite Zeros Problem is decidable unconditionally. We show moreover that a decision procedure for the Infinite Zeros Problem at order 9 would yield an algorithm for computing the Lagrange constant of any given real algebraic number to arbitrary precision, indicating that it will be very difficult to extend our decidability results to higher orders.

A polynomial program is one in which all assignments are given by polynomial expressions and in which all branching is nondeterministic (as opposed to conditional). Given such a program, an algebraic invariant is one that is defined by polynomial equations over the program variables at each program location. Müller-Olm and Seidl have posed the question of whether one can compute the strongest algebraic invariant of a given polynomial program. In this article, we show that, while strongest algebraic invariants are not computable in general, they can be computed in the special case of affine programs, that is, programs with exclusively linear assignments. For the latter result, our main tool is an algebraic result of independent interest: Given a finite set of rational square matrices of the same dimension, we show how to compute the Zariski closure of the semigroup that they generate.

Unambiguous automata are nondeterministic automata in which every word has at most one accepting run. In this paper we give a polynomial-time algorithm for model checking discrete-time Markov chains against ω-regular specifications represented as unambiguous automata. We furthermore show that the complexity of this model checking problem lies in NC: the subclass of P comprising those problems solvable in poly-logarithmic parallel time. These complexity bounds match the known bounds for model checking Markov chains against specifications given as deterministic automata, notwithstanding the fact that unambiguous automata can be exponentially more succinct than deterministic automata. We report on an implementation of our procedure, including an experiment in which the implementation is used to model check LTL formulas on Markov chains.

We consider the model-checking problem for parametric probabilistic dynamical systems, formalised as Markov chains with parametric transition functions, analysed under the distribution-transformer semantics (in which a Markov chain induces a sequence of distributions over states). We examine the problem of synthesising the set of parameter valuations of a parametric Markov chain such that the orbits of induced state distributions satisfy a prefix-independent ω-regular property. Our main result establishes that in all non-degenerate instances, the feasible set of parameters is (up to a null set) semialgebraic, and can moreover be computed (in polynomial time assuming that the ambient dimension, corresponding to the number of states of the Markov chain, is fixed).

A fundamental problem in adversarial machine learning is to quantify how much training data is needed in the presence of evasion attacks. In this paper we address this issue within the framework of PAC learning, focusing on the class of decision lists. Given that distributional assumptions are essential in the adversarial setting, we work with probability distributions on the input data that satisfy a Lipschitz condition: nearby points have similar probability. Our key results illustrate that the adversary's budget (that is, the number of bits it can perturb on each input) is a fundamental quantity in determining the sample complexity of robust learning. Our first main result is a sample-complexity lower bound: the class of monotone conjunctions (essentially the simplest non-trivial hypothesis class on the Boolean hypercube) and any superclass has sample complexity at least exponential in the adversary's budget. Our second main result is a corresponding upper bound: for every fixed k the class of k-decision lists has polynomial sample complexity against a log(n)-bounded adversary. This sheds further light on the question of whether an efficient PAC learning algorithm can always be used as an efficient log(n)-robust learning algorithm under the uniform distribution.

We investigate the Membership Problem for hypergeometric sequences: given a hypergeometric sequence ❬un❭∞n=0 of rational numbers and a target t∈Q, decide whether t occurs in the sequence. We show decidability of this problem under the assumption that in the defining recurrence p(n)un = q(n)un-1, the roots of the polynomials p(x) and q(x) are all rational numbers. Our proof relies on bounds on the density of primes in arithmetic progressions. We also observe a relationship between the decidability of the Membership problem (and variants) and the Rohrlich-Lang conjecture in transcendence theory.

We investigate the complexity of computing the Zariski closure of a finitely generated group of matrices. The Zariski closure was previously shown to be computable by Derksen, Jeandel, and Koiran, but the termination argument for their algorithm appears not to yield any complexity bound. In this paper we follow a different approach and obtain a bound on the degree of the polynomials that define the closure. Our bound shows that the closure can be computed in elementary time. We also obtain upper bounds on the length of chains of linear algebraic groups, where all the groups are generated over a fixed number field.

We study the Radical Identity Testing problem (RIT): Given an algebraic circuit representing a polynomial and nonnegative integers a1, …, ak and d1, …, dk, written in binary, test whether the polynomial vanishes at the real radicals , i.e., test whether . We place the problem in coNP assuming the Generalised Riemann Hypothesis (GRH), improving on the straightforward PSPACE upper bound obtained by reduction to the existential theory of reals. Next we consider a restricted version, called 2-RIT, where the radicals are square roots of prime numbers, written in binary. It was known since the work of Chen and Kao [16] that 2-RIT is at least as hard as the polynomial identity testing problem, however no better upper bound than PSPACE was known prior to our work. We show that 2-RIT is in coRP assuming GRH and in coNP unconditionally. Our proof relies on theorems from algebraic and analytic number theory, such as the Chebotarev density theorem and quadratic reciprocity.

It is a longstanding open problem whether there is an algorithm to decide the Skolem Problem for linear recurrence sequences (LRS) over the integers, namely whether a given such sequence has a zero term (i.e., whether un = 0 for some n). A major breakthrough in the early 1980s established decidability for LRS of order 4 or less, i.e., for LRS in which every new term depends linearly on the previous four (or fewer) terms. The Skolem Problem for LRS of order 5 or more, in particular, remains a major open challenge to this day.

The celebrated Skolem-Mahler-Lech Theorem states that the set of zeros of a linear recurrence sequence is the union of a finite set and finitely many arithmetic progressions. The corresponding computational question, the Skolem Problem, asks to determine whether a given linear recurrence sequence has a zero term. Although the Skolem-Mahler-Lech Theorem is almost 90 years old, decidability of the Skolem Problem remains open. The main contribution of this paper is an algorithm to solve the Skolem Problem for simple linear recurrence sequences (those with simple characteristic roots). Whenever the algorithm terminates, it produces a stand-alone certificate that its output is correct - a set of zeros together with a collection of witnesses that no further zeros exist. We give a proof that the algorithm always terminates assuming two classical number-theoretic conjectures: the Skolem Conjecture (also known as the Exponential Local-Global Principle) and the p-adic Schanuel Conjecture. Preliminary experiments with an implementation of this algorithm within the tool Skolem point to the practical applicability of this method.

We study fundamental reachability problems on pseudo-orbits of linear dynamical systems. Pseudo-orbits can be viewed as a model of computation with limited precision and pseudo-reachability can be thought of as a robust version of classical reachability. Using an approach based on $o$-minimality of $\reals_{\exp}$ we prove decidability of the discrete-time pseudo-reachability problem with arbitrary semialgebraic targets for diagonalisable linear dynamical systems. We also show that our method can be used to reduce the continuous-time pseudo-reachability problem to the (classical) time-bounded reachability problem, which is known to be conditionally decidable.

We study the Escape Problem for discrete-time linear dynamical systems over compact semialgebraic sets. We establish a uniform upper bound on the number of iterations it takes for every orbit of a rational matrix to escape a compact semialgebraic set defined over rational data. Our bound is doubly exponential in the ambient dimension, singly exponential in the degrees of the polynomials used to define the semialgebraic set, and singly exponential in the bitsize of the coefficients of these polynomials and the bitsize of the matrix entries. We show that our bound is tight by providing a matching lower bound.

Distributional assumptions have been shown to be necessary for the robust learnability of concept classes when considering the exact-in-the-ball robust risk and access to random examples by Gourdeau et al. (2019). In this paper, we study learning models where the learner is given more power through the use of local queries, and give the first distribution-free algorithms that perform robust empirical risk minimization (ERM) for this notion of robustness. The first learning model we consider uses local membership queries (LMQ), where the learner can query the label of points near the training sample. We show that, under the uniform distribution, LMQs do not increase the robustness threshold of conjunctions and any superclass, e.g., decision lists and halfspaces. Faced with this negative result, we introduce the local equivalence query (LEQ) oracle, which returns whether the hypothesis and target concept agree in the perturbation region around a point in the training sample, as well as a counterexample if it exists. We show a separation result: on one hand, if the query radius $\lambda$ is strictly smaller than the adversary's perturbation budget $\rho$, then distribution-free robust learning is impossible for a wide variety of concept classes; on the other hand, the setting $\lambda=\rho$ allows us to develop robust ERM algorithms. We then bound the query complexity of these algorithms based on online learning guarantees and further improve these bounds for the special case of conjunctions. We finish by giving robust learning algorithms for halfspaces with margins on both $\{0,1\}^n$ and $\mathbb{R}^n$.

We consider Pareto analysis of multi-priced timed automata (MPTA) having multiple observers recording costs (to be minimised) and rewards (to be maximised) along a computation. We study the Pareto Domination Problem, which asks whether it is possible to reach a target location such that the accumulated costs and rewards Pareto dominate a given vector. We show that this problem is undecidable in general, but decidable for MPTA with at most three observers. We show the problem to be PSPACE-complete for MPTA recording only costs or only rewards. We also consider an approximate Pareto Domination that is decidable in exponential time with no restrictions on types and number of observers. We develop connections between MPTA and Diophantine equations. Undecidability of the Pareto Domination Problem is shown by reduction from Hilbert's 10th Problem, while decidability for three observers entails translation to a decidable fragment of arithmetic involving quadratic forms.

We consider the MSO model-checking problem for simple linear loops, or equivalently discrete-time linear dynamical systems, with semialgebraic predicates (i.e., Boolean combinations of polynomial inequalities on the variables). We place no restrictions on the number of program variables, or equivalently the ambient dimension. We establish decidability of the model-checking problem provided that each semialgebraic predicate either has intrinsic dimension at most 1, or is contained within some three-dimensional subspace. We also note that lifting either of these restrictions and retaining decidability would necessarily require major breakthroughs in number theory.

Termination analysis of linear loops plays a key rôle in several areas of computer science, including program verification and abstract interpretation. Already for the simplest variants of linear loops the question of termination relates to deep open problems in number theory, such as the decidability of the Skolem and Positivity Problems for linear recurrence sequences, or equivalently reachability questions for discrete-time linear dynamical systems. In this article, we introduce the class of o-minimal invariants , which is broader than any previously considered, and study the decidability of the existence and algorithmic synthesis of such invariants as certificates of non-termination for linear loops equipped with a large class of halting conditions. We establish two main decidability results, one of them conditional on Schanuel’s conjecture is transcendental number theory.

Abstract We introduce the notion of porous invariants for multipath (or branching/nondeterministic) affine loops over the integers; these invariants are not necessarily convex, and can in fact contain infinitely many ‘holes’. Nevertheless, we show that in many cases such invariants can be automatically synthesised, and moreover can be used to settle (non-)reachability questions for various interesting classes of affine loops and target sets.

We study a parametric version of the Kannan-Lipton Orbit Problem for linear dynamical systems. We show decidability in the case of one parameter and Skolem-hardness with two or more parameters. More precisely, consider a $d$-dimensional square matrix $M$ whose entries are algebraic functions in one or more real variables. Given initial and target vectors $u,v\in \mathbb{Q}^d$, the parametric point-to-point orbit problem asks whether there exist values of the parameters giving rise to a concrete matrix $N \in \mathbb{R}^{d\times d}$, and a positive integer $n\in \mathbb{N}$, such that $N^nu = v$. We show decidability for the case in which $M$ depends only upon a single parameter, and we exhibit a reduction from the well-known Skolem Problem for linear recurrence sequences, suggesting intractability in the case of two or more parameters.

We study decision problems for sequences which obey a second-order holonomic recurrence of the form f(n + 2) = P(n) f(n + 1) + Q(n) f(n) with rational polynomial coefficients, where P is non-constant, Q is non-zero, and the degree of Q is smaller than or equal to that of P. We show that existence of infinitely many zeroes is decidable. We give partial algorithms for deciding the existence of a zero, positivity of all sequence terms, and positivity of all but finitely many sequence terms. If Q does not have a positive integer zero then our algorithms halt on almost all initial values (f(1), f(2)) for the recurrence. We identify a class of recurrences for which our algorithms halt for all initial values. We further identify a class of recurrences for which our algorithms can be extended to total ones.

We consider the cyclotomic identity testing (CIT) problem: given a polynomial f(x1,…,xk), decide whether f(ζne1, …,ζnek) is zero, where ζn = e2π i/n is a primitive complex n-th root of unity and e1,…,ek are integers, represented in binary. When f is given by an algebraic circuit, we give a randomized polynomial-time algorithm for CIT assuming the generalised Riemann hypothesis (GRH), and show that the problem is in NP unconditionally. When f is given by a circuit of polynomially bounded degree, we give a randomized NC algorithm. In case f is a linear form we show that the problem lies in NC. Towards understanding when CIT can be solved in deterministic polynomial-time, we consider so-called diagonal depth-3 circuits, i.e., polynomials f ∑mi=1 g+idi, where gi is a linear form and di a positive integer given in unary. We observe that a polynomial-time algorithm for CIT on this class would yield a sub-exponential-time algorithm for polynomial identity testing. However, assuming GRH, we show that if the linear forms gi are all identical then CIT can be solved in polynomial time. Finally, we use our results to give a new proof that equality of compressed strings, i.e., strings presented using context-free grammars, can be decided in randomized NC.

It is a longstanding open problem whether there is an algorithm to decide the Skolem Problem for linear recurrence sequences, namely whether a given such sequence has a zero term. In this paper we introduce the notion of a Universal Skolem Set: an infinite subsetSof the positive integers such that there is an effective procedure that inputs a linear recurrence sequence u = (u(n))n ≥ 0and decides whether u(n) = 0 for some n ∈S. The main technical contribution of the paper is to exhibit such a set.

We study fundamental decision problems on linear dynamical systems in discrete time. We focus on pseudo-orbits, the collection of trajectories of the dynamical system for which there is an arbitrarily small perturbation at each step. Pseudo-orbits are generalizations of orbits in the topological theory of dynamical systems. We study the pseudo-orbit problem, whether a state belongs to the pseudo-orbit of another state, and the pseudo-Skolem problem, whether a hyperplane is reachable by an ε-pseudo-orbit for every ε. These problems are analogous to the well-studied orbit problem and Skolem problem on unperturbed dynamical systems. Our main results show that the pseudo-orbit problem is decidable in polynomial time and the Skolem problem on pseudo-orbits is decidable. The former extends the seminal result of Kannan and Lipton from orbits to pseudo-orbits. The latter is in contrast to the Skolem problem for linear dynamical systems, which remains open for proper orbits.

We study the computational complexity of the Escape Problem for discrete-time linear dynamical systems over compact semialgebraic sets, or equivalently the Termination Problem for affine loops with compact semialgebraic guard sets. Consider the fragment of the theory of the reals consisting of negation-free $\exists \forall$-sentences without strict inequalities. We derive several equivalent characterisations of the associated complexity class which demonstrate its robustness and illustrate its expressive power. We show that the Compact Escape Problem is complete for this class.

An infinite sequence $\langle{u_n}\rangle_{n\in\mathbb{N}}$ of real numbers is holonomic (also known as P-recursive or P-finite) if it satisfies a linear recurrence relation with polynomial coefficients. Such a sequence is said to be positive if each $u_n \geq 0$, and minimal if, given any other linearly independent sequence $\langle{v_n}\rangle_{n \in\mathbb{N}}$ satisfying the same recurrence relation, the ratio $u_n/v_n$ converges to $0$. In this paper, we focus on holonomic sequences satisfying a second-order recurrence $g_3(n)u_n = g_2(n)u_{n-1} + g_1(n)u_{n-2}$, where each coefficient $g_3, g_2,g_1 \in \mathbb{Q}[n]$ is a polynomial of degree at most $1$. We establish two main results. First, we show that deciding positivity for such sequences reduces to deciding minimality. And second, we prove that deciding minimality is equivalent to determining whether certain numerical expressions (known as periods, exponential periods, and period-like integrals) are equal to zero. Periods and related expressions are classical objects of study in algebraic geometry and number theory, and several established conjectures (notably those of Kontsevich and Zagier) imply that they have a decidable equality problem, which in turn would entail decidability of Positivity and Minimality for a large class of second-order holonomic sequences.

It is becoming increasingly important to understand the vulnerability of machine learning models to adversarial attacks. In this paper we study the feasibility of adversarially robust learning from the perspective of computational learning theory, considering both sample and computational complexity. In particular, our definition of robust learnability requires polynomial sample complexity. We start with two negative results. We show that no non-trivial concept class can be robustly learned in the distribution-free setting against an adversary who can perturb just a single input bit. We show, moreover, that the class of monotone conjunctions cannot be robustly learned under the uniform distribution against an adversary who can perturb $\omega(\log n)$ input bits. However, we also show that if the adversary is restricted to perturbing $O(\log n)$ bits, then one can robustly learn the class of $1$-decision lists (which subsumes monotone conjunctions) with respect to the class of log-Lipschitz distributions. We then extend this result to show learnability of 2-decision lists and monotone $k$-decision lists in the same distributional and adversarial setting. Finally, we provide a simple proof of the computational hardness of robust learning on the boolean hypercube. Unlike previous results of this nature, our result does not rely on a more restricted model of learning, such as the statistical query model, nor on any hardness assumption other than the existence of an (average-case) hard learning problem in the PAC framework; this allows us to have a clean proof of the reduction, and the assumption is no stronger than assumptions that are used to build cryptographic primitives.

We consider the problem of deciding ω-regular properties on infinite traces produced by linear loops. Here we think of a given loop as producing a single infinite trace that encodes information about the signs of program variables at each time step. Formally, our main result is a procedure that inputs a prefix-independent ω-regular property and a sequence of numbers satisfying a linear recurrence, and determines whether the sign description of the sequence (obtained by replacing each positive entry with “+”, each negative entry with “−”, and each zero entry with “0”) satisfies the given property. Our procedure requires that the recurrence be simple, i.e., that the update matrix of the underlying loop be diagonalisable. This assumption is instrumental in proving our key technical lemma: namely that the sign description of a simple linear recurrence sequence is almost periodic in the sense of Muchnik, Sem'enov, and Ushakov. To complement this lemma, we give an example of a linear recurrence sequence whose sign description fails to be almost periodic. Generalising from sign descriptions, we also consider the verification of properties involving semi-algebraic predicates on program variables.

We study a class of reachability problems in weighted graphs with constraints on the accumulated weight of paths. The problems we study can equivalently be formulated in the model of vector addition systems with states (VASS). We consider a version of the vertex-to-vertex reachability problem in which the accumulated weight of a path is required always to be non-negative. This is equivalent to the so-called control-state reachability problem (also called the coverability problem) for 1-dimensional VASS. We show that this problem lies in NC: the class of problems solvable in polylogarithmic parallel time. In our main result we generalise the problem to allow disequality constraints on edges (i.e., we allow edges to be disabled if the accumulated weight is equal to a specific value). We show that in this case the vertex-to-vertex reachability problem is solvable in polynomial time even though a shortest path may have exponential length. In the language of VASS this means that control-state reachability is in polynomial time for 1-dimensional VASS with disequality tests.

We exhibit an algorithm to compute the strongest algebraic (or polynomial) invariants that hold at each location of a given guard-free linear hybrid automaton (i.e., a hybrid automaton having only unguarded transitions, all of whose assignments are given by affine expressions, and all of whose continuous dynamics are given by linear differential equations). Our main tool is a control-theoretic result of independent interest: given such a linear hybrid automaton, we show how to discretise the continuous dynamics in such a way that the resulting automaton has precisely the same algebraic invariants.

We consider the problem of synthesising polynomial ranking functions for single-path loops over the reals with continuous semi-algebraic update function and compact semi-algebraic guard set. We show that a loop of this form has a polynomial ranking function if and only if it terminates. We further show that termination is decidable for such loops in the special case where the update function is affine.

Continuous linear dynamical systems are used extensively in mathematics, computer science, physics, and engineering to model the evolution of a system over time. A central technique for certifying safety properties of such systems is by synthesising inductive invariants. This is the task of finding a set of states that is closed under the dynamics of the system and is disjoint from a given set of error states. In this paper we study the problem of synthesising inductive invariants that are definable in o-minimal expansions of the ordered field of real numbers. In particular, assuming Schanuel's conjecture in transcendental number theory, we establish effective synthesis of o-minimal invariants in the case of semi-algebraic error sets. Without using Schanuel's conjecture, we give a procedure for synthesizing o-minimal invariants that contain all but a bounded initial segment of the orbit and are disjoint from a given semi-algebraic error set. We further prove that effective synthesis of semi-algebraic invariants that contain the whole orbit, is at least as hard as a certain open problem in transcendental number theory.

The Skolem Problem asks, given a linear recurrence sequence (un), whether there exists n ∈ N such that un = 0. In this paper we consider the following specialisation of the problem: given in addition c ∈ N, determine whether there exists n ∈ N of the form n = lpk, with k, l ≤ c and p any prime number, such that un = 0.

Consider a discrete dynamical system given by a square matrix $M \in \mathbb{Q}^{d \times d}$ and a starting point $s \in \mathbb{Q}^d$. The orbit of such a system is the infinite trajectory $\langle s, Ms, M^2s, \ldots\rangle$. Given a collection $T_1, T_2, \ldots, T_m \subseteq \mathbb{R}^d$ of semialgebraic sets, we can associate with each $T_i$ an atomic proposition $P_i$ which evaluates to true at time $n$ if, and only if, $M^ns \in T_i$. This gives rise to the LTL Model-Checking Problem for discrete linear dynamical systems: given such a system $(M,s)$ and an LTL formula over such atomic propositions, determine whether the orbit satisfies the formula. The main contribution of the present paper is to show that the LTL Model-Checking Problem for discrete linear dynamical systems is decidable in dimension 3 or less.

The Continuous Polytope Escape Problem (CPEP) asks whether every trajectory of a linear differential equation initialised within a convex polytope eventually escapes the polytope. We provide a polynomial-time algorithm to decide CPEP for compact polytopes. We also establish a quantitative uniform upper bound on the time required for every trajectory to escape the given polytope. In addition, we establish iteration bounds for termination of discrete linear loops via reduction to the continuous case.

CSL is a well-known temporal logic for specifying properties of real-time stochastic systems, such as continuous-time Markov chains. We introduce PCSL, an extension of CSL that allows using existentially quantified parameters in timing constraints, and investigate its expressiveness and decidability over properties of continuous-time Markov chains. Assuming Schanuel’s Conjecture, we prove the decidability of model checking the one-parameter fragment of PCSL on continuous-time Markov chains. Technically, the central problem we solve (relying on Schanuel’s Conjecture) is to decide positivity of real-valued exponential polynomial functions on bounded intervals. A second contribution is to give a reduction of the Positivity Problem for matrix exponentials to the PCSL model checking problem, suggesting that it will be difficult to give an unconditional proof of the decidability of model checking PCSL.

We consider the decidability of state-to-state reachability in linear time-invariant control systems over discrete time. We analyse this problem with respect to the allowable control sets, which in general are assumed to be defined by boolean combinations of linear inequalities. Decidability of the version of the reachability problem in which control sets are affine subspaces of Rn is a fundamental result in control theory. Our first result is that reachability is undecidable if the set of controls is a finite union of affine subspaces. We also consider versions of the reachability problem in which (i) the set of controls consists of a single affine subspace together with the origin and (ii) the set of controls is a convex polytope. In these two cases we respectively show that the reachability problem is as hard as Skolem's Problem and the Positivity Problem for linear recurrence sequences (whose decidability has been open for several decades). Our main contribution is to show decidability of a version of the reachability problem in which control sets are convex polytopes, under certain spectral assumptions on the transition matrix.

We consider the Membership and the Half-Space Reachability problems for matrices in dimensions two and three. Our first main result is that the Membership Problem is decidable for finitely generated sub-semigroups of the Heisenberg group over rational numbers. Furthermore, we prove two decidability results for the Half-Space Reachability Problem. Namely, we show that this problem is decidable for sub-semigroups of GL(2,Z) and of the Heisenberg group over rational numbers.

We consider the problem of deciding termination of single-path while loops with integer variables, affine updates, and affine guard conditions. The question is whether such a loop terminates on all integer initial values. This problem is known to be decidable for the subclass of loops whose update matrices are diagonalisable, but the general case has remained open since being conjectured decidable by Tiwari in 2004. In this paper we show decidability of determining termination for arbitrary update matrices, confirming Tiwari's conjecture. For the class of loops considered in this paper, the question of deciding termination on a specific initial value is a longstanding open problem in number theory. The key to our decision procedure is in showing how to circumvent the difficulties inherent in deciding termination on a fixed initial value.

We consider the complexity of the satisfiability problems for the existential fragment of Büchi arithmetic and for the existential fragment of linear arithmetic over p-adic fields. Our main results are that both problems are NP-complete. The NP upper bound for existential linear arithmetic over p-adic fields resolves an open question posed by Weispfenning [J. Symb. Comput., 5(1/2) (1988)] and holds despite the fact that satisfying assignments in both theories may have bit-size super-polynomial in the description of the formula. A key technical contribution is to show that the existence of a path between two states of a finite-state automaton whose language encodes the set of solutions of a given system of linear Diophantine equations can be witnessed in NP.

It is becoming increasingly important to understand the vulnerability of machine learning models to adversarial attacks. In this paper we study the feasibility of robust learning from the perspective of computational learning theory, considering both sample and computational complexity. In particular, our definition of robust learnability requires polynomial sample complexity. We start with two negative results. We show that no non-trivial concept class can be robustly learned in the distribution-free setting against an adversary who can perturb just a single input bit. We show moreover that the class of monotone conjunctions cannot be robustly learned under the uniform distribution against an adversary who can perturb $\omega(\log n)$ input bits. However if the adversary is restricted to perturbing $O(\log n)$ bits, then the class of monotone conjunctions can be robustly learned with respect to a general class of distributions (that includes the uniform distribution). Finally, we provide a simple proof of the computational hardness of robust learning on the boolean hypercube. Unlike previous results of this nature, our result does not rely on another computational model (e.g. the statistical query model) nor on any hardness assumption other than the existence of a hard learning problem in the PAC framework.

The Semialgebraic Orbit Problem is a fundamental reachability question that arises in the analysis of discrete-time linear dynamical systems such as automata, Markov chains, recurrence sequences, and linear while loops. An instance of the problem comprises a dimension d in N, a square matrix A in Q^{d x d}, and semialgebraic source and target sets S,T subseteq R^d. The question is whether there exists x in S and n in N such that A^nx in T. The main result of this paper is that the Semialgebraic Orbit Problem is decidable for dimension d <= 3. Our decision procedure relies on separation bounds for algebraic numbers as well as a classical result of transcendental number theory - Baker’s theorem on linear forms in logarithms of algebraic numbers. We moreover argue that our main result represents a natural limit to what can be decided (with respect to reachability) about the orbit of a single matrix. On the one hand, semialgebraic sets are arguably the largest general class of subsets of R^d for which membership is decidable. On the other hand, previous work has shown that in dimension d=4, giving a decision procedure for the special case of the Orbit Problem with singleton source set S and polytope target set T would entail major breakthroughs in Diophantine approximation.

We consider the decidability of the membership problem for matrix-exponential semigroups: Given k ∈ N and square matrices A 1 , … , A k , C , all of the same dimension and with real algebraic entries, decide whether C is contained in the semigroup generated by the matrix exponentials exp ( A i t ), where i ∈ { 1,… , k } and t ≥ 0. This problem can be seen as a continuous analog of Babai et al.’s and Cai et al.’s problem of solving multiplicative matrix equations and has applications to reachability analysis of linear hybrid automata and switching systems. Our main results are that the semigroup membership problem is undecidable in general, but decidable if we assume that A 1 , … , A k commute. The decidability proof is by reduction to a version of integer programming that has transcendental constants. We give a decision procedure for the latter using Baker’s theorem on linear forms in logarithms of algebraic numbers, among other tools. The undecidability result is shown by reduction from Hilbert’s Tenth Problem.

It is known that Metric Temporal Logic (MTL) is strictly less expressive than the Monadic First-Order Logic of Order and Metric (FO[<, +1]) when interpreted over timed words; this remains true even when the time domain is bounded a priori. In this work, we present an extension of MTL with the same expressive power as FO[<, +1] over bounded timed words (and also, trivially, over time-bounded signals). We then show that expressive completeness also holds in the general (time-unbounded) case if we allow the use of rational constants $q \in \mathbb{Q}$ in formulas. This extended version of MTL therefore yields a definitive real-time analogue of Kamp's theorem. As an application, we propose a trace-length independent monitoring procedure for our extension of MTL, the first such procedure in a dense real-time setting.

We study the growth behaviour of rational linear recurrence sequences. We show that for low-order sequences, divergence is decidable in polynomial time. We also exhibit a polynomial-time algorithm which takes as input a divergent rational linear recurrence sequence and computes effective fine-grained lower bounds on the growth rate of the sequence.

The termination analysis of linear loops plays a key rôle in several areas of computer science, including program verification and abstract interpretation. Such deceptively simple questions also relate to a number of deep open problems, such as the decidability of the Skolem and Positivity Problems for linear recurrence sequences, or equivalently reachability questions for discrete-time linear dynamical systems. In this paper, we introduce the class of o-minimal invariants, which is broader than any previously considered, and study the decidability of the existence and algorithmic synthesis of such invariants as certificates of non-termination for linear loops equipped with a large class of halting conditions. We establish two main decidability results, one of them conditional on Schanuel's conjecture in transcendental number theory.

The containment problem for quantitative automata is the natural quantitative generalisation of the classical language inclusion problem for Boolean automata. We study it for probabilistic automata, where it is known to be undecidable in general. We restrict our study to the class of probabilistic automata with bounded ambiguity. There, we show decidability (subject to Schanuel's conjecture) when one of the automata is assumed to be unambiguous while the other one is allowed to be finitely ambiguous. Furthermore, we show that this is close to the most general decidable fragment of this problem by proving that it is already undecidable if one of the automata is allowed to be linearly ambiguous.

International audience

We exhibit an algorithm to compute the strongest polynomial (or algebraic) invariants that hold at each location of a given affine program (i.e., a program having only non-deterministic (as opposed to conditional) branching and all of whose assignments are given by affine expressions). Our main tool is an algebraic result of independent interest: given a finite set of rational square matrices of the same dimension, we show how to compute the Zariski closure of the semigroup that they generate.

We study the bisimilarity problem for probabilistic pushdown automata (pPDA) and subclasses thereof. Our definition of pPDA allows both probabilistic and non-deterministic branching, generalising the classical notion of pushdown automata (without epsilon-transitions). We first show a general characterization of probabilistic bisimilarity in terms of two-player games, which naturally reduces checking bisimilarity of probabilistic labelled transition systems to checking bisimilarity of standard (non-deterministic) labelled transition systems. This reduction can be easily implemented in the framework of pPDA, allowing to use known results for standard (non-probabilistic) PDA and their subclasses. A direct use of the reduction incurs an exponential increase of complexity, which does not matter in deriving decidability of bisimilarity for pPDA due to the non-elementary complexity of the problem. In the cases of probabilistic one-counter automata (pOCA), of probabilistic visibly pushdown automata (pvPDA), and of probabilistic basic process algebras (i.e., single-state pPDA) we show that an implicit use of the reduction can avoid the complexity increase; we thus get PSPACE, EXPTIME, and 2-EXPTIME upper bounds, respectively, like for the respective non-probabilistic versions. The bisimilarity problems for OCA and vPDA are known to have matching lower bounds (thus being PSPACE-complete and EXPTIME-complete, respectively); we show that these lower bounds also hold for fully probabilistic versions that do not use non-determinism.

Freeze LTL is a temporal logic with registers that is suitable for specifying properties of data words. In this paper we study the model checking problem for Freeze LTL on one-counter automata. This problem is known to be undecidable in general and PSPACE-complete for the special case of deterministic one-counter automata. Several years ago, Demri and Sangnier investigated the model checking problem for the flat fragment of Freeze LTL on several classes of counter automata and posed the decidability of model checking flat Freeze LTL on one-counter automata as an open problem. In this paper we resolve this problem positively, utilising a known reduction to a reachability problem on one-counter automata with parameterised equality and disequality tests. Our main technical contribution is to show decidability of the latter problem by translation to Presburger arithmetic.

Probabilistic automata are a computational model introduced by Michael Rabin, extending nondeterministic finite automata with probabilistic transitions. Despite its simplicity, this model is very expressive and many of the associated algorithmic questions are undecidable. In this work we focus on the emptiness problem, which asks whether a given probabilistic automaton accepts some word with probability higher than a given threshold. We consider a natural and well-studied structural restriction on automata, namely the degree of ambiguity, which is defined as the maximum number of accepting runs over all words. We observe that undecidability of the emptiness problem requires infinite ambiguity and so we focus on the case of finitely ambiguous probabilistic automata. Our main results are to construct efficient algorithms for analysing finitely ambiguous probabilistic automata through a reduction to a multi-objective optimisation problem, called the stochastic path problem. We obtain a polynomial time algorithm for approximating the value of finitely ambiguous probabilistic automata and a quasi-polynomial time algorithm for the emptiness problem for 2-ambiguous probabilistic automata.

The Polytope Escape Problem for continuous linear dynamical systems consists of deciding, given an affine function f:Rd -> Rd and a convex polytope P⊆ Rd, both with rational descriptions, whether there exists an initial point x0 in P such that the trajectory of the unique solution to the differential equation: ·x(t)=f(x(t)) x 0= x0 is entirely contained in P. We show that this problem is reducible in polynomial time to the decision version of linear programming with real algebraic coefficients. The latter is a special case of the decision problem for the existential theory of real closed fields, which is known to lie between NP and PSPACE. Our algorithm makes use of spectral techniques and relies, among others, on tools from Diophantine approximation.

The Orbit Problem consists of determining, given a matrix A in R^dxd and vectors x,y in R^d, whether there exists n in N such that A^n=y. This problem was shown to be decidable in a seminal work of Kannan and Lipton in the 1980s. Subsequently, Kannan and Lipton noted that the Orbit Problem becomes considerably harder when the target y is replaced with a subspace of R^d. Recently, it was shown that the problem is decidable for vector-space targets of dimension at most three, followed by another development showing that the problem is in PSPACE for polytope targets of dimension at most three. In this work, we take a dual look at the problem, and consider the case where the initial vector x is replaced with a polytope P_1, and the target is a polytope P_2. Then, the question is whether there exists n in N such that A^n P_1 intersection P_2 does not equal the empty set. We show that the problem can be decided in PSPACE for dimension at most three. As in previous works, decidability in the case of higher dimensions is left open, as the problem is known to be hard for long-standing number-theoretic open problems. Our proof begins by formulating the problem as the satisfiability of a parametrized family of sentences in the existential first-order theory of real-closed fields. Then, after removing quantifiers, we are left with instances of simultaneous positivity of sums of exponentials. Using techniques from transcendental number theory, and separation bounds on algebraic numbers, we are able to solve such instances in PSPACE.

Many fundamental algorithmic problems on continuous linear dynamical systems reduce to determining the existence of zeros of exponential polynomials. In this talk we introduce several decision problems concerning the zeros of exponential polynomials; we describe some positive decidability results, highlighting the main mathematical techniques involved; finally we identify formidable mathematical obstacles to further progress.

We introduce a generalisation of weighted automata over a field, called polynomial automata, and we analyse the complexity of the Zeroness Problem in this model, that is, whether a given automaton outputs zero on all words. While this problem is non-primitive recursive in general, we highlight a subclass of polynomial automata for which the Zeroness Problem is primitive recursive. Refining further, we identify a subclass of affine VAS for which coverability is in 2EXPSPACE. We also use polynomial automata to obtain new proofs that equivalence of streaming string transducers is decidable, and that equivalence of copyless streaming string transducers is in PSPACE.

We revisit a fundamental result in real-time verification, namely that the binary reachability relation between configurations of a given timed automaton is definable in linear arithmetic over the integers and reals. In this paper we give a new and simpler proof of this result, building on the well-known reachability analysis of timed automata involving difference bound matrices. Using this new proof, we give an exponential-space procedure for model checking the reachability fragment of the logic parametric TCTL. Finally we show that the latter problem is NEXPTIME-hard.

Nonnegative matrix factorization (NMF) is the problem of decomposing a given nonnegative n × m matrix M into a product of a nonnegative n × d matrix W and a nonnegative d × m matrix H. NMF has a wide variety of applications, including bioinformatics, chemometrics, communication complexity, machine learning, polyhedral combinatorics, among many others. A longstanding open question, posed by Cohen and Rothblum in 1993, is whether every rational matrix M has an NMF with minimal d whose factors W and H are also rational. We answer this question negatively, by exhibiting a matrix M for which W and H require irrational entries. As an application of this result, we show that state minimization of labeled Markov chains can require the introduction of irrational transition probabilities. We complement these irrationality results with an NP- complete version of NMF for which rational numbers suffice.

The Orbit Problem consists of determining, given a linear transformation A on d-dimensional rationals Q^d, together with vectors x and y, whether the orbit of x under repeated applications of A can ever reach y. This problem was famously shown to be decidable by Kannan and Lipton in the 1980s. In this paper, we are concerned with the problem of synthesising suitable invariants P which are subsets of R^d, i.e., sets that are stable under A and contain x and not y, thereby providing compact and versatile certificates of non-reachability. We show that whether a given instance of the Orbit Problem admits a semialgebraic invariant is decidable, and moreover in positive instances we provide an algorithm to synthesise suitable invariants of polynomial size. It is worth noting that the existence of semilinear invariants, on the other hand, is (to the best of our knowledge) not known to be decidable.

Freeze LTL is a temporal logic with registers that is suitable for specifying properties of data words. In this paper we study the model checking problem for Freeze LTL on one-counter automata. This problem is known to be undecidable in full generality and PSPACE-complete for the special case of deterministic one-counter automata. Several years ago, Demri and Sangnier investigated the model checking problem for the flat fragment of Freeze LTL on several classes of counter automata and posed the decidability of model checking flat Freeze LTL on one-counter automata as an open problem. In this paper we resolve this problem positively, utilising a known reduction to a reachability problem on one-counter automata with parameterised equality and disequality tests. Our main technical contribution is to show decidability of the latter problem by translation to Presburger arithmetic.

Herman's self-stabilisation algorithm, introduced 25 years ago, is a well-studied synchronous randomised protocol for enabling a ring of $N$ processes collectively holding any odd number of tokens to reach a stable state in which a single token remains. Determining the worst-case expected time to stabilisation is the central outstanding open problem about this protocol. It is known that there is a constant $h$ such that any initial configuration has expected stabilisation time at most $h N^2$. Ten years ago, McIver and Morgan established a lower bound of $4/27 \approx 0.148$ for $h$, achieved with three equally-spaced tokens, and conjectured this to be the optimal value of $h$. A series of papers over the last decade gradually reduced the upper bound on $h$, with the present record (achieved in 2014) standing at approximately $0.156$. In this paper, we prove McIver and Morgan's conjecture and establish that $h = 4/27$ is indeed optimal.

Nonnegative matrix factorization (NMF) is the problem of decomposing a given nonnegative n*m matrix M into a product of a nonnegative n*d matrix W and a nonnegative d*m matrix H. Restricted NMF requires in addition that the column spaces of M and W coincide. Finding the minimal inner dimension d is known to be NP-hard, both for NMF and restricted NMF. We show that restricted NMF is closely related to a question about the nature of minimal probabilistic automata, posed by Paz in his seminal 1971 textbook. We use this connection to answer Paz's question negatively, thus falsifying a positive answer claimed in 1974. Furthermore, we investigate whether a rational matrix M always has a restricted NMF of minimal inner dimension whose factors W and H are also rational. We show that this holds for matrices M of rank at most 3 and we exhibit a rank-4 matrix for which W and H require irrational entries.

The Continuous Skolem Problem asks whether a real-valued function satisfying a linear differential equation has a zero in a given interval of real numbers. This is a fundamental reachability problem for continuous linear dynamical systems, such as linear hybrid automata and continuoustime Markov chains. Decidability of the problem is currently open — indeed decidability is open even for the sub-problem in which a zero is sought in a bounded interval. In this paper we show decidability of the bounded problem subject to Schanuel's Conjecture, a unifying conjecture in transcendental number theory. We furthermore analyse the unbounded problem in terms of the frequencies of the differential equation, that is, the imaginary parts of the characteristic roots. We show that the unbounded problem can be reduced to the bounded problem if there is at most one rationally linearly independent frequency, or if there are two rationally linearly independent frequencies and all characteristic roots are simple. We complete the picture by showing that decidability of the unbounded problem in the case of two (or more) rationally linearly independent frequencies would entail a major new effectiveness result in Diophantine approximation, namely computability of the Diophantine-approximation types of all real algebraic numbers.

The continuous evolution of a wide variety of systems, including continuous-time Markov chains and linear hybrid automata, can be described in terms of linear differential equations. In this paper we study the decision problem of whether the solution x(t) of a system of linear differential equations dx/dt = Ax reaches a target halfspace infinitely often. This recurrent reachability problem can equivalently be formulated as the following Infinite Zeros Problem: does a real-valued function f: R≥0 → R satisfying a given linear differential equation have infinitely many zeros? Our main decidability result is that if the differential equation has order at most 7, then the Infinite Zeros Problem is decidable. On the other hand, we show that a decision procedure for the Infinite Zeros Problem at order 9 (and above) would entail a major breakthrough in Diophantine Approximation, specifically an algorithm for computing the Lagrange constants of arbitrary real algebraic numbers to arbitrary precision.

We consider a continuous analogue of (Babai et al. 1996)'s and (Cai et al. 2000)'s problem of solving multiplicative matrix equations. Given k + 1 square matrices A1, ..., Ak, C, all of the same dimension, whose entries are real algebraic, we examine the problem of deciding whether there exist non-negative reals t1, ..., tk such that

We establish a relationship between reachability problems in timed automata and space-bounded counter automata. We show that reachability in timed automata with three or more clocks is logarithmic-space inter-reducible with reachability in space-bounded counter automata with two counters. We moreov er show the logarithmic-space equivalence of reachability in two-clock timed automata and space-bounded one-counter automata. This last reduction has recently been employed by Fearnley and Jurdziński to settle the computational complexity of reachability in two-clock timed automata.

We consider higher-dimensional versions of Kannan and Lipton’s Orbit Problem—determining whether a target vector space ν may be reached from a starting point x under repeated applications of a linear transformation A . Answering two questions posed by Kannan and Lipton in the 1980s, we show that when ν has dimension one, this problem is solvable in polynomial time, and when ν has dimension two or three, the problem is in NP RP .

Verification of properties expressed in the two-variable fragment of first-order logic FO 2 has been investigated in a number of contexts. The satisfiability problem for FO 2 over arbitrary structures is known to be NEXPTIME-complete, with satisfiable formulas having exponential-sized models. Over words, where FO 2 is known to have the same expressiveness as unary temporal logic, satisfiability is again NEXPTIME-complete. Over finite labelled ordered trees, FO 2 has the same expressiveness as navigational XPath, a popular query language for XML documents. Prior work on XPath and FO 2 gives a 2EXPTIME bound for satisfiability of FO 2 over trees. This work contains a comprehensive analysis of the complexity of FO 2 on trees, and on the size and depth of models. We show that different techniques are required depending on the vocabulary used, whether the trees are ranked or unranked, and the encoding of labels on trees. We also look at a natural restriction of FO 2 , its guarded version, GF 2 . Our results depend on an analysis of types in models of FO 2 formulas, including techniques for controlling the number of distinct subtrees, the depth, and the size of a witness to satisfiability for FO 2 sentences over finite trees.

Metric temporal logic (MTL) is one of the most prominent specification formalisms for real-time systems. Over infinite timed words, full MTL is undecidable, but satisfiability for a syntactially defined safety fragment, called safety MTL, was proved decidable several years ago. Satisfiability for safety MTL is also known to be equivalent to a fair termination problem for a class of channel machines with insertion errors. However, hitherto, its precise computational complexity has remained elusive, with only a nonelementary lower bound. Via another equivalent problem, namely termination for a class of rational relations, we show that satisfiability for safety MTL is A ckermann -complete (i.e., among the easiest nonprimitive recursive problems). This is surprising since decidability was originally established using Higman’s Lemma, suggesting a much higher nonmultiply recursive complexity.

It is well understood that the interaction between discrete and continuous dynamics makes hybrid automata difficult to analyse algorithmically. However it is already the case that many natural verification questions concerning only the continuous dynamics of such systems are extremely challenging. This remains so even for linear dynamical systems, such as linear hybrid automata and continuous-time Markov chains, whose evolution is detemined by linear differential equations. For example, one can ask to decide whether it is possible to escape a particular location of a linear hybrid automaton, given initial values of the continuous variables. Likewise one can ask whether a given set of probability distributions is reachable during the evolution of continuous-time Markov chain. This talk focusses on reachability problems for solutions of linear differential equations. A central decision problem in this area is the Continuous Skolem Problem, which asks whether a real-valued function satisfying an ordinary linear differential equation has a zero. This can be seen as a continuous analog of the Skolem Problem for linear recurrence sequences, which asks whether the sequence satisfying a given recurrence has a zero term. For both the discrete and continuous versions of the Skolem Problem, decidability is open. We show that the Continuous Skolem Problem lies at the heart of many natural verification questions on linear dynamical systems. We describe some recent work, done in collaboration with Chonev and Ouaknine, that uses results in transcendence theory and real algebraic geometry to obtain decidability for certain variants of the problem. In particular, we consider a bounded version of the Continuous Skolem Problem, corresponding to time-bounded reachability. We prove decidability of the bounded problem assuming Schanuel's conjecture, one of the main conjectures in transcendence theory. We describe some partial decidability results in the unbounded case and discuss mathematical obstacles to proving decidability of the Continuous Skolem Problem in full generality.

We consider the complexity of deciding the truth of first-order existential sentences of linear arithmetic with divisibility over both the integers and the p-adic numbers. We show that if an existential sentence of Presburger arithmetic with divisibility is satisfiable then the smallest satisfying assignment has size at most exponential in the size of the formula, showing that the decision problem for such sentences is in NEXPTIME. Establishing this upper bound requires subtle adaptations to an existing decidability proof of Lipshitz. We consider also the first-order linear theory of the p-adic numbers. Here divisibility can be expressed via the valuation function. The decision problem for existential sentences over the p-adic numbers is an important component of the decision procedure for existential Presburger arithmetic with divisibility. The problem is known to be NP-hard and in EXPTIME, as a second main contribution, we show that this problem lies in the Counting Hierarchy, and therefore in PSPACE.

We consider polyhedral versions of Kannan and Lip-ton's Orbit Problem [14, 13]—determining whether a target polyhedron V may be reached from a starting point x under repeated applications of a linear transformation A in an ambient vector space ℚm. In the context of program verification, very similar reachability questions were also considered and left open by Lee and Yannakakis in [15], and by Braverman in [4]. We present what amounts to a complete characterisation of the decidability landscape for the Polyhedron-Hitting Problem, expressed as a function of the dimension m of the ambient space, together with the dimension of the polyhedral target V: more precisely, for each pair of dimensions, we either establish decidability, or show hardness for longstanding number-theoretic open problems.

A fundamental problem in program verification concerns the termination of simple linear loops of the form: where x is a vector of variables, u, a, and c are integer vectors, and A and B are integer matrices. Assuming the matrix A is diagonalisable, we give a decision procedure for the problem of whether, for all initial integer vectors u, such a loop terminates. The correctness of our algorithm relies on sophisticated tools from algebraic and analytic number theory, Diophantine geometry, and real algebraic geometry. To the best of our knowledge, this is the first substantial advance on a 10-year-old open problem of Tiwari [38] and Braverman [8].

We investigate the Matrix Powering Positivity Problem, PosMatPow: given an m X m square integer matrix M, a linear function f: Z^{m X m} -> Z with integer coefficients, and a positive integer n (encoded in binary), determine whether f(M^n) \geq 0. We show that for fixed dimensions m of 2 and 3, this problem is decidable in polynomial time.

We consider two decision problems for linear recurrence sequences (LRS) over the integers, namely the Positivity Problem (are all terms of a given LRS positive?) and the Ultimate Positivity Problem (are all but finitely many terms of a given LRS positive?). We show decidability of both problems for LRS of order 5 or less, with complexity in the Counting Hierarchy for Positivity, and in polynomial time for Ultimate Positivity. Moreover, we show by way of hardness that extending the decidability of either problem to LRS of order 6 would entail major breakthroughs in analytic number theory, more precisely in the field of Diophantine approximation of transcendental numbers.

Metric Temporal Logic (MTL) is a generalisation of Linear Temporal Logic in which the Until and Since modalities are annotated with intervals that express metric constraints. Hirshfeld and Rabinovich have shown that over the reals, firstorder logic with binary order relation <; and unary function +1 is strictly more expressive than MTL with integer constants. Indeed they prove that no temporal logic whose modalities are definable by formulas of bounded quantifier depth can be expressively complete for FO(<;, +1). In this paper we show that if we allow unary functions +q, q ∈ Q, in first-order logic and correspondingly allow rational constants in MTL, then the two logics have the same expressive power. This gives the first generalisation of Kamp's theorem on the expressive completeness of LTL for FO(<;) to the quantitative setting. The proof of this result involves a generalisation of Gabbay's notion of separation to the metric setting.

We consider higher-dimensional versions of Kannan and Lipton's Orbit Problem---determining whether a target vector space V may be reached from a starting point x under repeated applications of a linear transformation A. Answering two questions posed by Kannan and Lipton in the 1980s, we show that when V has dimension one, this problem is solvable in polynomial time, and when V has dimension two or three, the problem is in NPRP.

We study the bisimilarity problem for probabilistic pushdown automata (pPDA) and subclasses thereof. Our definition of pPDA allows both probabilistic and non-deterministic branching, generalising the classical notion of pushdown automata (without epsilon-transitions). Our first contribution is a general construction that reduces checking bisimilarity of probabilistic transition systems to checking bisimilarity of non-deterministic transition systems. This construction directly yields decidability of bisimilarity for pPDA, as well as an elementary upper bound for the bisimilarity problem on the subclass of probabilistic basic process algebras, i.e., single-state pPDA. We further show that, with careful analysis, the general reduction can be used to prove an EXPTIME upper bound for bisimilarity of probabilistic visibly pushdown automata. Here we also provide a matching lower bound, establishing EXPTIME-completeness. Finally we prove that deciding bisimilarity of probabilistic one-counter automata, another subclass of pPDA, is PSPACE-complete. Here we use a more specialised argument to obtain optimal complexity bounds.

Bounded model checking (BMC) is a highly successful bug-finding method that examines paths of bounded length for violations of a given regular or w-regular specification. A completeness threshold for a given model M and specification φ is a bound k such that, if no counterexample to φ of length k or less can be found in M, then M in fact satisfies φ. The quest for `small' completeness thresholds in BMC goes back to the very inception of the technique, over a decade ago, and remains a topic of active research. For a fixed specification, completeness thresholds are typically expressed in terms of key attributes of the models under consideration, such as their diameter (length of the longest shortest path) and especially their recurrence diameter (length of the longest loop-free path). A recent research paper identified a large class of LTL specifications having completeness thresholds linear in the models' recurrence diameter [7]. However, the authors left open the question of whether linearity is in general even decidable. In the present paper, we settle the problem in the affirmative, by showing that the linearity problem for both regular and ω-regular specifications (provided as automata and Buchi automata respectively) is PSPACE-complete. Moreover, we establish the following dichotomies: for regular specifications, completeness thresholds are either linear or exponential, whereas for ω-regular specifications, completeness thresholds are either linear or at least quadratic.

Abstract A channel machine consists of a finite controller together with several fifo channels; the controller can read messages from the head of a channel and write messages to the tail of a channel. In this paper we focus on channel machines with insertion errors , i.e., machines in whose channels messages can spontaneously appear. We consider the invariance problem: does a given insertion channel machine have an infinite computation all of whose configurations satisfy a given predicate? We show that this problem is primitive-recursive if the predicate is closed under message losses. We also give a non-elementary lower bound for the invariance problem under this restriction. Finally, using the previous result, we show that the satisfiability problem for the safety fragment of Metric Temporal Logic is non-elementary.

Abstract Herman’s algorithm is a synchronous randomized protocol for achieving self-stabilization in a token ring consisting of N processes. The interaction of tokens makes the dynamics of the protocol very difficult to analyze. In this paper we study the distribution of the time to stabilization, assuming that there are three tokens in the initial configuration. We show for arbitrary N and for an arbitrary timeout t that the probability of stabilization within time t is minimized by choosing as the initial three-token configuration the configuration in which the tokens are placed equidistantly on the ring. Our result strengthens a corollary of a theorem of McIver and Morgan (Inf. Process Lett. 94(2): 79–84, 2005 ), which states that the expected stabilization time is minimized by the equidistant configuration.

A fundamental problem in numerical computation and computational geometry is to determine the sign of arithmetic expressions in radicals. Here we consider the simpler problem of deciding whether $\sum_{i=1}^m C_i A_i^{X_i}$ is zero for given rational numbers $A_i$, $C_i$, $X_i$. It has been known for almost twenty years that this can be decided in polynomial time. In this paper we improve this result by showing membership in uniform TC0. This requires several significant departures from Blömer's polynomial-time algorithm as the latter crucially relies on primitives, such as gcd computation and binary search, that are not known to be in TC0.

Alternating timed automata are a powerful extension of classical Alur-Dill timed automata that are closed under all Boolean operations. They have played a key role, among others, in providing verification algorithms for prominent specification formalisms such as Metric Temporal Logic. Unfortunately, when interpreted over an infinite dense time domain (such as the reals), alternating time automata have an undecidable language emptiness problem. The main result of this paper is that, over bounded time domains, language emptiness for alternating timed automata is decidable (but nonelementary). The proof involves showing decidability of a class of parametric McNaughton games that are played over timed words and that have winning conditions expressed in the monadic logic of order augmented with the distance-one relation. As a corollary, we establish the decidability of the time-bounded model-checking problem for Alur-Dill timed automata against specifications expressed as alternating timed automata.

A channel machine consists of a finite controller together with several fifo channels; the controller can read messages from the head of a channel and write messages to the tail of a channel. In this paper, we focus on channel machines with insertion errors, i.e., machines in whose channels messages can spontaneously appear. Such devices have been previously introduced in the study of Metric Temporal Logic. We consider the termination problem: are all the computations of a given insertion channel machine finite? We show that this problem has non-elementary, yet primitive recursive complexity.

In this talk we describe a new automata-theoretic approach to model checking real-time systems. We show how this approach yields both upper and lower complexity bounds for various decision problems involving timed automata and temporal logics. To put these developments in context we survey some classical results concerning automata, temporal logic and monadic predicate logic over the reals.

Desharnais, Gupta, Jagadeesan and Panangaden introduced a family of behavioural pseudometrics for probabilistic transition systems. These pseudometrics are a quantitative analogue of probabilistic bisimilarity. Distance zero captures probabilistic bisimilarity. Each pseudometric has a discount factor, a real number in the interval (0, 1]. The smaller the discount factor, the more the future is discounted. If the discount factor is one, then the future is not discounted at all. Desharnais et al. showed that the behavioural distances can be calculated up to any desired degree of accuracy if the discount factor is smaller than one. In this paper, we show that the distances can also be approximated if the future is not discounted. A key ingredient of our algorithm is Tarski's decision procedure for the first order theory over real closed fields. By exploiting the Kantorovich-Rubinstein duality theorem we can restrict to the existential fragment for which more efficient decision procedures exist.

In an influential paper titled "The benefits of relaxing punctuality" [2], Alur, Feder, and Henzinger introduced Metric Interval Temporal Logic (MITL) as a fragment of the real-time logic metric temporal logic (MTL) in which exact or punctual timing constraints are banned. Their main result showed that model checking and satisfiability for MITL are both EXPSPACE-Complete. Until recently, it was widely believed that admitting even the simplest punctual specifications in any linear-time temporal logic would automatically lead to undecidability. Although this was recently disproved, until now no punctual fragment of MTL was known to have even primitive recursive complexity (with certain decidable fragments having provably non-primitive recursive complexity). In this paper we identify a "co-flat' subset of MTL that is capable of expressing a large class of punctual specifications and for which model checking (although not satisfiability) has no complexity cost over MITL. Our logic is moreover qualitatively different from MITL in that it can express properties that are not timed-regular. Correspondingly, our decision procedures do not involve translating formulas into finite-state automata, but rather into certain kinds of reversal-bounded Turing machines. Using this translation we show that the model checking problem for our logic is EXPSPACE-Complete.

Metric Temporal Logic (MTL) is a prominent specification formalism for real-time systems. In this paper, we show that the satisfiability problem for MTL over finite timed words is decidable, with non-primitive recursive complexity. We also consider the model-checking problem for MTL: whether all words accepted by a given Alur-Dill timed automaton satisfy a given MTL formula. We show that this problem is decidable over finite words. Over infinite words, we show that model checking the safety fragment of MTL--which includes invariance and time-bounded response properties--is also decidable. These results are quite surprising in that they contradict various claims to the contrary that have appeared in the literature.

Metric temporal logic (MTL) is a prominent specification formalism for real-time systems. In this paper, we show that the satisfiability problem for MTL over finite timed words is decidable, with non-primitive recursive complexity. We also consider the model-checking problem for MTL: whether all words accepted by a given Alur-Dill timed automaton satisfy a given MTL formula. We show that this problem is decidable over finite words. Over infinite words, we show that model checking the safety fragment of MTL-which includes invariance and time-bounded response properties-is also decidable. These results are quite surprising in that they contradict various claims to the contrary that have appeared in the literature. The question of the decidability of MTL over infinite words remains open.

We show that the category of coalgebras of a wide-pullback preserving endofunctor on a category of presheaves is itself a category of presheaves. This illustrates a connection between Jacobs' temporal logic of coalgebras and Ghilardi and Meloni's presheaf semantics for temporal modalities.

We consider the language inclusion problem for timed automata: given two timed automata A and B, are all the timed traces accepted by B also accepted by A? While this problem is known to be undecidable, we show here that it becomes decidable if A is restricted to having at most one clock. This is somewhat surprising, since it is well-known that there exist timed automata with a single clock that cannot be complemented. The crux of our proof consists in reducing the language inclusion problem to a reachability question on an infinite graph; we then construct a suitable well-quasi-order on the nodes of this graph, which ensures the termination of our search algorithm. We also show that the language inclusion problem is decidable if the only constant appearing among the clock constraints of A is zero. Moreover, these two cases are essentially the only decidable instances of language inclusion, in terms of restricting the various resources of timed automata.

We consider several questions related to the use of digitization techniques for timed automata. These very successful techniques reduce dense-time language inclusion problems to discrete time, but are applicable only when the implementation is closed under digitization and the specification is closed under inverse digitization. We show that, for timed automata, the former (whether the implementation is closed under digitization) is decidable, but not the latter. We also investigate digitization questions in connection with the robust semantics for timed automata. The robust modeling approach introduces a timing fuzziness through the semantic removal of equality testing. Since its introduction half a decade ago, research into the robust semantics has suggested that it yields roughly the same theory as the standard semantics. This paper shows that, surprisingly, this is not the case: the robust semantics is significantly less tractable, and differs from the standard semantics in many key respects. In particular, the robust semantics yields an undecidable (nonregular) discrete-time theory, in stark contrast with the standard semantics. This makes it virtually impossible to apply digitization techniques together with the robust semantics. On the positive side, we show that the robust languages of timed automata remain recursive.

We consider a finitely branching transition system as a coalgebra for an endofunctor on the category Set of small sets. A map in that category is a functional bisimulation. So, we study the structure of the category of finitely branching transition systems and functional bisimulations by proving general results about the category H-Coalg of H-coalgebras for an endofunctor H on Set. We give conditions under which H-Coalg is complete, cocomplete, symmetric monoidal closed, regular, and has a subobject classifier.