We consider a large family of product operations of formal power series in noncommuting indeterminates, the classes of automata they define, and the respective equivalence problems. A P-product of series is defined coinductively by a polynomial product rule P, which gives a recursive recipe to build the product of two series as a function of the series themselves and their derivatives. The first main result of the paper is a complete and decidable characterisation of all product rules P giving rise to P-products which are bilinear, associative, and commutative. The characterisation shows that there are infinitely many such products, and in particular it applies to the notable Hadamard, shuffle, and infiltration products from the literature. Every P-product gives rise to the class of P-automata, an infinite-state model where states are terms. The second main result of the paper is that the equivalence problem for P-automata is decidable for P-products satisfying our characterisation. This explains, subsumes, and extends previous results on Hadamard, shuffle, and infiltration automata. We have formalised most results in the proof assistant Agda.

A formal series in noncommuting variables Σ over the rationals is a mapping ${\Sigma ^{\ast}} \to \mathbb{Q}$ from the free monoid generated by Σ to the rationals. We say that a series is commutative if the value in the output does not depend on the order of the symbols in the input. The commutativity problem for a class of series takes as input a (finite presentation of) a series from the class and amounts to establishing whether it is commutative. This is a very natural, albeit nontrivial problem, which has not been considered before from an algorithmic perspective.We show that commutativity is decidable for all classes of series that constitute a so-called effective prevariety, a notion generalising Reutenauer’s varieties of formal series. For example, the class of rational series, introduced by Schützenberger in the 1960’s, is well-known to be an effective (pre)variety, and thus commutativity is decidable for it.In order to showcase the applicability of our result, we consider classes of formal series generalising the rational ones. We consider polynomial automata, shuffle automata, and infiltration automata, and we show that each of these models recognises an effective prevariety of formal series. Consequently, their commutativity problem is decidable, which is a novel result. We find it remarkable that commutativity can be decided in a uniform way for such disparate computation models.Finally, we present applications of commutativity outside the theory of formal series. We show that we can decide solvability in sequences and in power series for restricted classes of algebraic difference and differential equations, for which such problems are undecidable in full generality. Thanks to this, we can prove that the syntaxes of multivariate polynomial recursive sequences and of constructible differentially algebraic power series are effective, which are new results which were left open in previous work.

We study weighted basic parallel processes (WBPP), a nonlinear recursive generalisation of weighted finite automata inspired from process algebra and Petri net theory. Our main result is an algorithm of 2-EXPSPACE complexity for the WBPP equivalence problem. While (unweighted) BPP language equivalence is undecidable, we can use this algorithm to decide multiplicity equivalence of BPP and language equivalence of unambiguous BPP, with the same complexity. These are long-standing open problems for the related model of weighted context-free grammars. Our second contribution is a connection between WBPP, power series solutions of systems of polynomial differential equations, and combinatorial enumeration. To this end we consider constructible differentially finite power series (CDF), a class of multivariate differentially algebraic series introduced by Bergeron and Reutenauer in order to provide a combinatorial interpretation to differential equations. CDF series generalise rational, algebraic, and a large class of D-finite (holonomic) series, for which decidability of equivalence was an open problem. We show that CDF series correspond to commutative WBPP series. As a consequence of our result on WBPP and commutativity, we show that equivalence of CDF power series can be decided with 2-EXPTIME complexity. The complexity analysis is based on effective bounds from algebraic geometry, namely on the length of chains of polynomial ideals constructed by repeated application of finitely many, not necessarily commuting derivations of a multivariate polynomial ring. This is obtained by generalising a result of Novikov and Yakovenko in the case of a single derivation, which is noteworthy since generic bounds on ideal chains are non-primitive recursive in general. On the way, we develop the theory of \WBPP~series and \CDF~power series, exposing several of their appealing properties.

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.

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In this work we prove decidability of the model-checking problem for safe recursion schemes against properties defined by alternating B-automata. We then exploit this result to show how to compute downward closures of languages of finite trees recognized by safe recursion schemes. Higher-order recursion schemes are an expressive formalism used to define languages of finite and infinite ranked trees by means of fixed points of lambda terms. They extend regular and context-free grammars, and are equivalent in expressive power to the simply typed λY-calculus and collapsible pushdown automata. Safety in a syntactic restriction which limits their expressive power. The class of alternating B-automata is an extension of alternating parity automata over infinite trees; it enhances them with counting features that can be used to describe boundedness properties.

The deterministic membership problem for timed automata asks whether the timed language given by a nondeterministic timed automaton can be recognised by a deterministic timed automaton. An analogous problem can be stated in the setting of register automata. We draw the complete decidability/complexity landscape of the deterministic membership problem, in the setting of both register and timed automata. For register automata, we prove that the deterministic membership problem is decidable when the input automaton is a nondeterministic one-register automaton (possibly with epsilon transitions) and the number of registers of the output deterministic register automaton is fixed. This is optimal: We show that in all the other cases the problem is undecidable, i.e., when either (1) the input nondeterministic automaton has two registers or more (even without epsilon transitions), or (2) it uses guessing, or (3) the number of registers of the output deterministic automaton is not fixed. The landscape for timed automata follows a similar pattern. We show that the problem is decidable when the input automaton is a one-clock nondeterministic timed automaton without epsilon transitions and the number of clocks of the output deterministic timed automaton is fixed. Again, this is optimal: We show that the problem in all the other cases is undecidable, i.e., when either (1) the input nondeterministic timed automaton has two clocks or more, or (2) it uses epsilon transitions, or (3) the number of clocks of the output deterministic automaton is not fixed.

We show that it is decidable whether two regular languages of infinite trees are separable by a deterministic language, resp., a game language. We consider two variants of separability, depending on whether the set of priorities of the separator is fixed, or not. In each case, we show that separability can be decided in EXPTIME, and that separating automata of exponential size suffice. We obtain our results by reducing to infinite duration games with ω-regular winning conditions and applying the finite-memory determinacy theorem of Büchi and Landweber.

We study the universality and inclusion problems for register automata over equality data (A, =). We show that the universality L(B) = (Σ × A)^* and inclusion problems L(A) ⊆ L(B) B can be solved with 2-EXPTIME complexity when both automata are without guessing and B is unambiguous, improving on the currently best-known 2-EXPSPACE upper bound by Mottet and Quaas. When the number of registers of both automata is fixed, we obtain a lower EXPTIME complexity, also improving the EXPSPACE upper bound from Mottet and Quaas for fixed number of registers. We reduce inclusion to universality, and then we reduce universality to the problem of counting the number of orbits of runs of the automaton. We show that the orbit-counting function satisfies a system of bidimensional linear recursive equations with polynomial coefficients (linrec), which generalises analogous recurrences for the Stirling numbers of the second kind, and then we show that universality reduces to the zeroness problem for linrec sequences. While such a counting approach is classical and has successfully been applied to unambiguous finite automata and grammars over finite alphabets, its application to register automata over infinite alphabets is novel. We provide two algorithms to decide the zeroness problem for bidimensional linear recursive sequences arising from orbit-counting functions. Both algorithms rely on techniques from linear non-commutative algebra. The first algorithm performs variable elimination and has elementary complexity. The second algorithm is a refined version of the first one and it relies on the computation of the Hermite normal form of matrices over a skew polynomial field. The second algorithm yields an EXPTIME decision procedure for the zeroness problem of linrec sequences, which in turn yields the claimed bounds for the universality and inclusion problems of register automata.

The deterministic membership problem for timed automata asks whether the timed language recognised by a nondeterministic timed automaton can be recognised by a deterministic timed automaton. We show that the problem is decidable when the input automaton is a one-clock nondeterministic timed automaton without epsilon transitions and the number of clocks of the deterministic timed automaton is fixed. We show that the problem in all the other cases is undecidable, i.e., when either 1) the input nondeterministic timed automaton has two clocks or more, or 2) it uses epsilon transitions, or 3) the number of clocks of the output deterministic automaton is not fixed.

We study a generalisation of Büchi-Landweber games to the timed setting. The winning condition is specified by a non-deterministic timed automaton with epsilon transitions and only Player I can elapse time. We show that for fixed number of clocks and maximal numerical constant available to Player II, it is decidable whether she has a winning timed controller using these resources. More interestingly, we also show that the problem remains decidable even when the maximal numerical constant is not specified in advance, which is an important technical novelty not present in previous literature on timed games. We complement these two decidability result by showing undecidability when the number of clocks available to Player II is not fixed. As an application of timed games, and our main motivation to study them, we show that they can be used to solve the deterministic separability problem for nondeterministic timed automata with epsilon transitions. This is a novel decision problem about timed automata which has not been studied before. We show that separability is decidable when the number of clocks of the separating automaton is fixed and the maximal constant is not. The problem whether separability is decidable without bounding the number of clocks of the separator remains an interesting open problem.

Timed basic parallel processes (TBPP) extend communication-free Petri nets (aka. BPP or commutative context-free grammars) by a global notion of time. TBPP can be seen as an extension of timed automata (TA) with context-free branching rules, and as such may be used to model networks of independent timed automata with process creation. We show that the coverability and reachability problems (with unary encoded target multiplicities) are PSPACE-complete and EXPTIME-complete, respectively. For the special case of 1-clock TBPP, both are NP-complete and hence not more complex than for untimed BPP. This contrasts with known super-Ackermannian-completeness and undecidability results for general timed Petri nets. As a result of independent interest, and basis for our NP upper bounds, we show that the reachability relation of 1-clock TA can be expressed by a formula of polynomial size in the existential fragment of linear arithmetic, which improves on recent results from the literature.

We present efficient algorithms to reduce the size of nondeterministic B\"uchi word automata (NBA) and nondeterministic finite word automata (NFA), while retaining their languages. Additionally, we describe methods to solve PSPACE-complete automata problems like language universality, equivalence, and inclusion for much larger instances than was previously possible ($\ge 1000$ states instead of 10-100). This can be used to scale up applications of automata in formal verification tools and decision procedures for logical theories. The algorithms are based on new techniques for removing transitions (pruning) and adding transitions (saturation), as well as extensions of classic quotienting of the state space. These techniques use criteria based on combinations of backward and forward trace inclusions and simulation relations. Since trace inclusion relations are themselves PSPACE-complete, we introduce lookahead simulations as good polynomial time computable approximations thereof. Extensive experiments show that the average-case time complexity of our algorithms scales slightly above quadratically. (The space complexity is worst-case quadratic.) The size reduction of the automata depends very much on the class of instances, but our algorithm consistently reduces the size far more than all previous techniques. We tested our algorithms on NBA derived from LTL-formulae, NBA derived from mutual exclusion protocols and many classes of random NBA and NFA, and compared their performance to the well-known automata tool GOAL. Comment: 69 pages. arXiv admin note: text overlap with arXiv:1210.6624

Timed-register pushdown automata constitute a very expressive class of automata, whose transitions may involve state, input, and top-of-stack timed registers with unbounded differences. They strictly subsume pushdown timed automata of Bouajjani et al., dense-timed pushdown automata of Abdulla et al., and orbit-finite timed-register pushdown automata of Clemente and Lasota. We give an effective logical characterisation of the reachability relation of timed-register pushdown automata. As a corollary, we obtain a doubly exponential time procedure for the non-emptiness problem. We show that the complexity reduces to singly exponential under the assumption of monotonic time. The proofs involve a novel model of one-dimensional integer branching vector addition systems with states. As a result interesting on its own, we show that reachability sets of the latter model are semilinear and computable in exponential time.

We study an expressive model of timed pushdown automata extended with modular and fractional clock constraints. We show that the binary reachability relation is effectively expressible in hybrid linear arithmetic with a rational and an integer sort. This subsumes analogous expressibility results previously known for finite and pushdown timed automata with untimed stack. As key technical tools, we use quantifier elimination for a fragment of hybrid linear arithmetic and for cyclic order atoms, and a reduction to register pushdown automata over cyclic order atoms.

We investigate a subclass of languages recognized by vector addition systems, namely languages of nondeterministic Parikh automata. While the regularity problem (is the language of a given automaton regular?) is undecidable for this model, we surprisingly show decidability of the regular separability problem: given two Parikh automata, is there a regular language that contains one of them and is disjoint from the other? We supplement this result by proving undecidability of the same problem already for languages of visibly one counter automata.

We prove that non-emptiness of timed register pushdown automata is decidable in doubly exponential time. This is a very expressive class of automata, whose transitions may involve state and top-of-stack clocks with unbounded differences. It strictly subsumes pushdown timed automata of Bouajjani et al., dense-timed pushdown automata of Abdulla et al., and orbit-finite timed register pushdown automata of Clemente and Lasota. Along the way, we prove two further decidability results of independent interest: for non-emptiness of least solutions to systems of equations over sets of integers with addition, union and intersections with ℕ and -ℕ, and for reachability in one-dimensional branching vector addition systems with states and subtraction, both in exponential time.

Given two families of sets F and G, the F-separability problem for G asks whether for two given sets U, V in G there exists a set S in F, such that U is included in S and V is disjoint with S. We consider two families of sets F: modular sets S which are subsets of N^d, defined as unions of equivalence classes modulo some natural number n in N, and unary sets, which extend modular sets by requiring equality below a threshold n, and equivalence modulo n above n. Our main result is decidability of modular- and unary-separability for the class G of reachability sets of Vector Addition Systems, Petri Nets, Vector Addition Systems with States, and for sections thereof.

A non-deterministic recursion scheme recognizes a language of finite trees. This very expressive model can simulate, among others, higher-order pushdown automata with collapse. We show decidability of the diagonal problem for schemes. This result has several interesting consequences. In particular, it gives an algorithm that computes the downward closure of languages of words recognized by schemes. In turn, this has immediate application to separability problems and reachability analysis of concurrent systems.

We study pushdown systems where control states, stack alphabet, and transition relation, instead of being finite, are first-order definable in a fixed countably-infinite structure. We show that the reachability analysis can be addressed with the well-known saturation technique for the wide class of oligomorphic structures. Moreover, for the more restrictive homogeneous structures, we are able to give concrete complexity upper bounds. We show ample applicability of our technique by presenting several concrete examples of homogeneous structures, subsuming, with optimal complexity, known results from the literature. We show that infinitely many such examples of homogeneous structures can be obtained with the classical wreath product construction.

We define a new class of pushdown systems where the pushdown is a tree instead of a word. We allow a limited form of lookahead on the pushdown conforming to a certain ordering restriction, and we show that the resulting class enjoys a decidable reachability problem. This follows from a preservation of recognizability result for the backward reachability relation of such systems. As an application, we show that our simple model can encode several formalisms generalizing pushdown systems, such as ordered multi-pushdown systems, annotated higher-order pushdown systems, the Krivine machine, and ordered annotated multi-pushdown systems. In each case, our procedure yields tight complexity.

This paper contains two results on timed extensions of pushdown automata (PDA). As our first result we prove that the model of dense-timed PDA of Abdulla et al. Collapses: it is expressively equivalent to dense-timed PDA with timeless stack. Motivated by this result, we advocate the framework of first-order definable PDA, a specialization of PDA in sets with atoms, as the right setting to define and investigate timed extensions of PDA. The general model obtained in this way is Turing complete. As our second result we prove NEXPTIME upper complexity bound for the non-emptiness problem for an expressive subclass. As a byproduct, we obtain a tight EXPTIME complexity bound for a more restrictive subclass of PDA with timeless stack, thus subsuming the complexity bound known for dense-timed PDA.

The beyond worst-case threshold problem (BWC), recently introduced by Bruyère et al., asks given a quantitative game graph for the synthesis of a strategy that i) enforces some minimal level of performance against any adversary, and ii) achieves a good expectation against a stochastic model of the adversary. They solved the BWC problem for finite-memory strategies and unidimensional mean-payoff objectives and they showed membership of the problem in NP∩coNP. They also noted that infinite-memory strategies are more powerful than finite-memory ones, but the respective threshold problem was left open. We extend these results in several directions. First, we consider multidimensional mean-payoff objectives. Second, we study both finite-memory and infinite-memory strategies. We show that the multidimensional BWC problem is coNPc in both cases. Third, in the special case when the worst-case objective is unidimensional (but the expectation objective is still multidimensional) we show that the complexity decreases to NP∩coNP. This solves the infinite-memory threshold problem left open by Bruyère et al., and this complexity cannot be improved without improving the currently known complexity of classical mean-payoff games. Finally, we introduce a natural relaxation of the BWC problem, the beyond almost-sure threshold problem (BAS), which asks for the synthesis of a strategy that ensures some minimal level of performance with probability one and a good expectation against the stochastic model of the adversary. We show that the multidimensional BAS threshold problem is solvable in P.

We present an efficient algorithm to reduce the size of nondeterministic Buchi word automata, while retaining their language. Additionally, we describe methods to solve PSPACE-complete automata problems like universality, equivalence and inclusion for much larger instances (1-3 orders of magnitude) than before. This can be used to scale up applications of automata in formal verification tools and decision procedures for logical theories.