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Martin Zimmermann

Publications and source records attributed to Martin Zimmermann.

At least 37 records · Page 2Linked to original sources
arXiv2025

HyperLTL Satisfiability Is Highly Undecidable, HyperCTL$^*$ is Even Harder

Temporal logics for the specification of information-flow properties are able to express relations between multiple executions of a system. The two most important such logics are HyperLTL and HyperCTL*, which generalise LTL and CTL* by trace quantification. It is known that this expressiveness comes at a price, i.e. satisfiability is undecidable for both logics. In this paper we settle the exact complexity of these problems, showing that both are in fact highly undecidable: we prove that HyperLTL satisfiability is $Σ_1^1$-complete and HyperCTL* satisfiability is $Σ_1^2$-complete. These are significant increases over the previously known lower bounds and the first upper bounds. To prove $Σ_1^2$-membership for HyperCTL*, we prove that every satisfiable HyperCTL* sentence has a model that is equinumerous to the continuum, the first upper bound of this kind. We also prove this bound to be tight. Furthermore, we prove that both countable and finitely-branching satisfiability for HyperCTL* are as hard as truth in second-order arithmetic, i.e. still highly undecidable. Finally, we show that the membership problem for every level of the HyperLTL quantifier alternation hierarchy is $Π_1^1$-complete.

cs.LO↗
arXiv2024

Tracy, Traces, and Transducers: Computable Counterexamples and Explanations for HyperLTL Model-Checking

HyperLTL model-checking enables the automated verification of information-flow properties for security-critical systems. However, it only provides a binary answer. Here, we introduce two paradigms to compute counterexamples and explanations for HyperLTL model-checking, thereby considerably increasing its usefulness. Both paradigms are based on the maxim ``counterexamples/explanations are Skolem functions for the existentially quantified trace variables''. Our first paradigm is complete (everything can be explained), but restricted to ultimately periodic system traces. The second paradigm works with (Turing machine) computable Skolem functions and is therefore much more general, but also shown incomplete (not everything can computably be explained). Finally, we prove that it is decidable whether a given finite transition system and a formula have computable Skolem functions witnessing that the system satisfies the formula. Our algorithm also computes transducers implementing computable Skolem functions, if they exist.

cs.LO↗
arXiv2024

The Reachability Problem for Neural-Network Control Systems

A control system consists of a plant component and a controller which periodically computes a control input for the plant. We consider systems where the controller is implemented by a feedforward neural network with ReLU activations. The reachability problem asks, given a set of initial states, whether a set of target states can be reached. We show that this problem is undecidable even for trivial plants and fixed-depth neural networks with three inputs and outputs. We also show that the problem becomes semi-decidable when the plant as well as the input and target sets are given by automata over infinite words.

cs.LG↗
arXiv2024

Robust Probabilistic Temporal Logics

We robustify PCTL and PCTL*, the most important specification languages for probabilistic systems, and show that robustness does not increase the complexity of their model-checking problems.

cs.LO↗
arXiv2024

A Bit of Nondeterminism Makes Pushdown Automata Expressive and Succinct

We study the expressiveness and succinctness of history-deterministic pushdown automata (HD-PDA) over finite words, that is, pushdown automata whose nondeterminism can be resolved based on the run constructed so far, but independently of the remainder of the input word. These are also known as good-for-games pushdown automata. We prove that HD-PDA recognise more languages than deterministic PDA (DPDA) but not all context-free languages (CFL). This class is orthogonal to unambiguous CFL. We further show that HD-PDA can be exponentially more succinct than DPDA, while PDA can be double-exponentially more succinct than HD-PDA. We also study HDness in visibly pushdown automata (VPA), which enjoy better closure properties than PDA, and for which we show that deciding HDness is ExpTime-complete. HD-VPA can be exponentially more succinct than deterministic VPA, while VPA can be exponentially more succinct than HD-VPA. Both of these lower bounds are tight. We then compare HD-PDA with PDA for which composition with games is well-behaved, i.e. good-for-games automata. We show that these two notions coincide, but only if we consider potentially infinitely branching games. Finally, we study the complexity of resolving nondeterminism in HD-PDA. Every HDPDA has a positional resolver, a function that resolves nondeterminism and that is only dependant on the current configuration. Pushdown transducers are sufficient to implement the resolvers of HD-VPA, but not those of HD-PDA. HD-PDA with finite-state resolvers are determinisable.

cs.FL↗
arXiv2023

Robust Computation Tree Logic

It is widely accepted that every system should be robust in that ``small'' violations of environment assumptions should lead to ``small'' violations of system guarantees, but it is less clear how to make this intuition mathematically precise. While significant efforts have been devoted to providing notions of robustness for Linear Temporal Logic (LTL), branching-time logics, such as Computation Tree Logic (CTL) and CTL*, have received less attention in this regard. To address this shortcoming, we develop ``robust'' extensions of CTL and CTL*, which we name robust CTL (rCTL) and robust CTL* (rCTL*). Both extensions are syntactically similar to their parent logics but employ multi-valued semantics to distinguish between ``large'' and ``small'' violations of the specification. We show that the multi-valued semantics of rCTL make it more expressive than CTL, while rCTL* is as expressive as CTL*. Moreover, we show that the model checking problem, the satisfiability problem, and the synthesis problem for rCTL and rCTL* have the same asymptotic complexity as their non-robust counterparts, implying that robustness can be added to branching-time logics for free.

cs.LO↗
arXiv2023

Strategies Resilient to Delay: Games under Delayed Control vs. Delay Games

We compare games under delayed control and delay games, two types of infinite games modelling asynchronicity in reactive synthesis. Our main result, the interreducibility of the existence of sure winning strategies for the protagonist, allows to transfer known complexity results and bounds on the delay from delay games to games under delayed control, for which no such results had been known. We furthermore analyze existence of randomized strategies that win almost surely, where this correspondence between the two types of games breaks down.

cs.GT↗
arXiv2023

Robust Alternating-Time Temporal Logic

In multi-agent system design, a crucial aspect is to ensure robustness, meaning that for a coalition of agents A, small violations of adversarial assumptions only lead to small violations of A's goals. In this paper we introduce a logical framework for robust strategic reasoning about multi-agent systems. Specifically, inspired by recent works on robust temporal logics, we introduce and study rATL and rATL*, logics that extend the well-known Alternating-time Temporal Logic ATL and ATL* by means of an opportune multi-valued semantics for the strategy quantifiers and temporal operators. We study the model-checking and satisfiability problems for rATL and rATL* and show that dealing with robustness comes at no additional computational cost. Indeed, we show that these problems are PTime-complete and ExpTime-complete for rATL, respectively, while both are 2ExpTime-complete for rATL*.

cs.LO↗
arXiv2023

Good-for-games $ω$-Pushdown Automata

We introduce good-for-games $ω$-pushdown automata ($ω$-GFG-PDA). These are automata whose nondeterminism can be resolved based on the input processed so far. Good-for-gameness enables automata to be composed with games, trees, and other automata, applications which otherwise require deterministic automata. Our main results are that $ω$-GFG-PDA are more expressive than deterministic $ω$- pushdown automata and that solving infinite games with winning conditions specified by $ω$-GFG-PDA is EXPTIME-complete. Thus, we have identified a new class of $ω$-contextfree winning conditions for which solving games is decidable. It follows that the universality problem for $ω$-GFG-PDA is in EXPTIME as well. Moreover, we study closure properties of the class of languages recognized by $ω$-GFG- PDA and decidability of good-for-gameness of $ω$-pushdown automata and languages. Finally, we compare $ω$-GFG-PDA to $ω$-visibly PDA, study the resources necessary to resolve the nondeterminism in $ω$-GFG-PDA, and prove that the parity index hierarchy for $ω$-GFG-PDA is infinite. This is a corrected version of the paper arXiv:2001.04392v6 published originally on January 7, 2022.

cs.FL↗
arXiv2023

Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*) algorithm and the Line-of-Sight (LOS) algorithm are employed to generate a collision-free path consisting of multiple waypoints. Then, in the second step, constrained quadratic programming is utilized to compute a smooth trajectory that passes through all computed waypoints. The main contribution of this work is the development of a flexible trajectory planning framework that can detect changes in the environment, such as new obstacles, and compute alternative trajectories in real time. The proposed algorithm actively considers all changes in the environment and performs the replanning process only on waypoints that are occupied by new obstacles. This helps to reduce the computation time and realize the proposed approach in real time. The feasibility of the proposed algorithm is evaluated using the Intel Aero Ready-to-Fly (RTF) quadcopter in simulation and in a real-world experiment.

cs.RO↗
arXiv2022

Parikh Automata over Infinite Words

Parikh automata extend finite automata by counters that can be tested for membership in a semilinear set, but only at the end of a run, thereby preserving many of the desirable algorithmic properties of finite automata. Here, we study the extension of the classical framework onto infinite inputs: We introduce reachability, safety, Büchi, and co-Büchi Parikh automata on infinite words and study expressiveness, closure properties, and the complexity of verification problems. We show that almost all classes of automata have pairwise incomparable expressiveness, both in the deterministic and the nondeterministic case; a result that sharply contrasts with the well-known hierarchy in the $ω$-regular setting. Furthermore, emptiness is shown decidable for Parikh automata with reachability or Büchi acceptance, but undecidable for safety and co-Büchi acceptance. Most importantly, we show decidability of model checking with specifications given by deterministic Parikh automata with safety or co-Büchi acceptance, but also undecidability for all other types of automata. Finally, solving games is undecidable for all types.

cs.FL↗
arXiv2022

The Complexity of Evaluating nfer

Nfer is a rule-based language for abstracting event streams into a hierarchy of intervals with data. Nfer has multiple implementations and has been applied in the analysis of spacecraft telemetry and autonomous vehicle logs. This work provides the first complexity analysis of nfer evaluation, i.e., the problem of deciding whether a given interval is generated by applying rules. We show that the full nfer language is undecidable and that this depends on both recursion in the rules and an infinite data domain. By restricting either or both of those capabilities, we obtain tight decidability results. We also examine the impact on complexity of exclusive rules and minimality. For the most practical case, which is minimality with finite data, we provide a polynomial-time algorithm.

cs.LO↗
arXiv2022

Weak Muller Conditions Make Delay Games Hard

We show that solving delay games with winning conditions given by deterministic and nondeterministic weak Muller automata is 2EXPTIME-complete respectively 3EXPTIME-complete. Furthermore, doubly and triply exponential lookahead is necessary and sufficient to win such games. These results are the first that show that the succinctness of the automata types used to specify the winning conditions has an influence on the complexity of these problems.

cs.FL↗
arXiv2022

From LTL to rLTL Monitoring: Improved Monitorability through Robust Semantics

Runtime monitoring is commonly used to detect the violation of desired properties in safety critical cyber-physical systems by observing its executions. Bauer et al. introduced an influential framework for monitoring Linear Temporal Logic (LTL) properties based on a three-valued semantics: the formula is already satisfied by the given prefix, it is already violated, or it is still undetermined, i.e., it can still be satisfied and violated by appropriate extensions. However, a wide range of formulas are not monitorable under this approach, meaning that they have a prefix for which satisfaction and violation will always remain undetermined no matter how it is extended. In particular, Bauer et al. report that 44% of the formulas they consider in their experiments fall into this category. Recently, a robust semantics for LTL was introduced to capture different degrees by which a property can be violated. In this paper we introduce a robust semantics for finite strings and show its potential in monitoring: every formula considered by Bauer et al. is monitorable under our approach. Furthermore, we discuss which properties that come naturally in LTL monitoring - such as the realizability of all truth values - can be transferred to the robust setting. Lastly, we show that LTL formulas with robust semantics can be monitored by deterministic automata and report on a prototype implementation.

cs.FL↗
arXiv2022

Robustness-by-Construction Synthesis: Adapting to the Environment at Runtime

While most of the current synthesis algorithms only focus on correctness-by-construction, ensuring robustness has remained a challenge. Hence, in this paper, we address the robust-by-construction synthesis problem by considering the specifications to be expressed by a robust version of Linear Temporal Logic (LTL), called robust LTL (rLTL). rLTL has a many-valued semantics to capture different degrees of satisfaction of a specification, i.e., satisfaction is a quantitative notion. We argue that the current algorithms for rLTL synthesis do not compute optimal strategies in a non-antagonistic setting. So, a natural question is whether there is a way of satisfying the specification "better" if the environment is indeed not antagonistic. We address this question by developing two new notions of strategies. The first notion is that of adaptive strategies, which, in response to the opponent's non-antagonistic moves, maximize the degree of satisfaction. The idea is to monitor non-optimal moves of the opponent at runtime using multiple parity automata and adaptively change the system strategy to ensure optimality. The second notion is that of strongly adaptive strategies, which is a further refinement of the first notion. These strategies also maximize the opportunities for the opponent to make non-optimal moves. We show that computing such strategies for rLTL specifications is not harder than the standard synthesis problem, e.g., computing strategies with LTL specifications, and takes doubly-exponential time.

cs.LO↗
arXiv2021

HyperLTL Satisfiability is $Σ_1^1$-complete, HyperCTL* Satisfiability is $Σ_1^2$-complete

Temporal logics for the specification of information-flow properties are able to express relations between multiple executions of a system. The two most important such logics are HyperLTL and HyperCTL*, which generalise LTL and CTL* by trace quantification. It is known that this expressiveness comes at a price, i.e. satisfiability is undecidable for both logics. In this paper we settle the exact complexity of these problems, showing that both are in fact highly undecidable: we prove that HyperLTL satisfiability is $Σ_1^1$-complete and HyperCTL* satisfiability is $Σ_1^2$-complete. These are significant increases over the previously known lower bounds and the first upper bounds. To prove $Σ_1^2$-membership for HyperCTL*, we prove that every satisfiable HyperCTL* sentence has a model that is equinumerous to the continuum, the first upper bound of this kind. We prove this bound to be tight. Finally, we show that the membership problem for every level of the HyperLTL quantifier alternation hierarchy is $Π_1^1$-complete.

cs.LO↗
arXiv2021

Robust, Expressive, and Quantitative Linear Temporal Logics: Pick any Two for Free (full version)

Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited expressiveness, the lack of quantitative features, and the inability to express robustness. There is work on overcoming these shortcomings, but each of these is typically addressed in isolation. This is insufficient for applications where all shortcomings manifest themselves simultaneously. Here, we tackle this issue by introducing logics that address more than one shortcoming. To this end, we combine the logics Linear Dynamic Logic, Prompt-LTL, and robust LTL, each addressing one aspect, to new logics. For all combinations of two aspects, the resulting logic has the same desirable algorithmic properties as plain LTL. In particular, the highly efficient algorithmic backends that have been developed for LTL are also applicable to these new logics. Finally, we discuss how to address all three aspects simultaneously.

cs.LO↗