Linear Temporal Logic Research Articles

Planning under LTL Environment Specifications

Planning domains represent what an agent assumes or believes about the environment it acts in. In the presence of nondeterminism, additional temporal assumptions, such as fairness, are often expressed as extra conditions on the domain. Here we consider environment specifications expressed in arbitrary LTL, which generalize many forms of environment specifications, including classical specifications of nondeterministic domains, fairness, and other forms of linear-time constraints on the domain itself. Existing literature typically implicitly or explicitly considers environment specifications as constraints on possible traces. In contrast, in spite of the fact that we use a linear-time formalism, we propose to consider environment specifications as specifications of environment strategies. Planning in this framework is the problem of computing an agent strategy that achieves its goal against all environment strategies satisfying the specification. We study the mathematical and computational properties of planning in this general setting. We observe that not all LTL formulas correspond to legitimate environment specifications, and formally characterize the ones that do. Moreover, we show that our notion of planning generalizes the classical notion of Church’s synthesis, and that in spite this one can still solve it optimally using classical Church’s synthesis.

First-order rewritability of ontology-mediated queries in linear temporal logic

We investigate ontology-based data access to temporal data. We consider temporal ontologies given in linear temporal logic LTL interpreted over discrete time (Z,<). Queries are given in LTL or MFO(<), monadic first-order logic with a built-in linear order. Our concern is first-order rewritability of ontology-mediated queries (OMQs) consisting of a temporal ontology and a query. By taking account of the temporal operators used in the ontology and distinguishing between ontologies given in full LTL and its core, Krom and Horn fragments, we identify a hierarchy of OMQs with atomic queries by proving rewritability into either FO(<), first-order logic with the built-in linear order, or FO(<,≡), which extends FO(<) with the standard arithmetic predicates x≡0(modn), for any fixed n>1, or FO(RPR), which extends FO(<) with relational primitive recursion. In terms of circuit complexity, FO(<,≡)- and FO(RPR)-rewritability guarantee OMQ answering in uniform ▪ and, respectively, ▪.We obtain similar hierarchies for more expressive types of queries: positive LTL-formulas, monotone MFO(<)- and arbitrary MFO(<)-formulas. Our results are directly applicable if the temporal data to be accessed is one-dimensional; moreover, they lay foundations for investigating ontology-based access using combinations of temporal and description logics over two-dimensional temporal data.

Adaptive Teaching of Temporal Logic Formulas to Preference-based Learners

Machine teaching is an algorithmic framework for teaching a target hypothesis via a sequence of examples or demonstrations. We investigate machine teaching for temporal logic formulas—a novel and expressive hypothesis class amenable to time-related task specifications. In the context of teaching temporal logic formulas, an exhaustive search even for a myopic solution takes exponential time (with respect to the time span of the task). We propose an efficient approach for teaching parametric linear temporal logic formulas. Concretely, we derive a necessary condition for the minimal time length of a demonstration to eliminate a set of hypotheses. Utilizing this condition, we propose an efficient myopic teaching algorithm by solving a sequence of integer programming problems. We further show that, under two notions of teaching complexity, the proposed algorithm has near-optimal performance. We evaluate our algorithm extensively under different classes of learners (i.e., learners with different preferences over hypotheses) and interaction protocols (e.g., non-adaptive and adaptive). Our results demonstrate the effectiveness of the proposed algorithm in teaching temporal logic formulas; in particular, we show that there are significant gains of teaching efficacy when the teacher adapts to feedback of the learner, or adapts to a (non-myopic) oracle.

Progression Heuristics for Planning with Probabilistic LTL Constraints

Probabilistic planning subject to multi-objective probabilistic temporal logic (PLTL) constraints models the problem of computing safe and robust behaviours for agents in stochastic environments. We present novel admissible heuristics to guide the search for cost-optimal policies for these problems. These heuristics project and decompose LTL formulae obtained by progression to estimate the probability that an extension of a partial policy satisfies the constraints. Their computation with linear programming is integrated with the recent PLTL-dual heuristic search algorithm, enabling more aggressive pruning of regions violating the constraints. Our experiments show that they further widen the scalability gap between heuristic search and verification approaches to these planning problems.

Compositional Approach to Translate LTLf/LDLf into Deterministic Finite Automata

The translation from temporal logics to automata is the workhorse algorithm of several techniques in computer science and AI, such as reactive synthesis, reasoning about actions, FOND planning with temporal specifications, and reinforcement learning with non-Markovian rewards, to name a few. Unfortunately, the problem is computationally intractable, requiring the implementation of several heuristics to make it usable in practice. In this paper, following the recent interest in temporal logic formalisms over finite traces, we present a compositional approach for dealing with translations of Linear Temporal Logic (LTLf) and Linear Dynamic Logic (LDLf) on finite traces into Deterministic Finite Automata (DFA). We inductively transform each LTLf/LDLf subformula into a DFA and combine them through automata operators. By relying on efficient semi-symbolic automata representations, we empirically show our approach's effectiveness and competitiveness with similar tools. Moreover, this is the first work that provides a scalable and practical tool supporting the translation to DFA not only for LTLf but also for full LDLf.

On Planning with Qualitative State-Trajectory Constraints in PDDL3 by Compiling them Away

We tackle the problem of classical planning with qualitative state-trajectory constraints as those that can be expressed in PDDL3. These kinds of constraints allow a user to formally specify which temporal properties a plan has to conform with through a class of LTL formulae. We study a compilation-based approach that does not resort to automata for representing and dealing with such properties, as other approaches do, and generates a classical planning problem with conditional effects that is solvable iff the original PDDL3 problem is. Our compilation exploits a regression operator to revise the actions' preconditions and conditional effects in a way to (i) prohibit executions that irreversibly violate temporal constraints (ii) be sensitive to executions that traverse those necessary subgoals implied by the temporal specification. An experimental analysis shows that our approach performs better than other state-of-the-art approaches over the majority of the considered benchmark domains.

Expressiveness and Nash Equilibrium in Iterated Boolean Games

We define and investigate a novel notion of expressiveness for temporal logics that is based on game theoretic equilibria of multi-agent systems. We use iterated Boolean games as our abstract model of multi-agent systems [Gutierrez et al. 2013, 2015a]. In such a game, each agent has a goal , represented using (a fragment of) Linear Temporal Logic ( ) . The goal captures agent ’s preferences, in the sense that the models of represent system behaviours that would satisfy . Each player controls a subset of Boolean variables , and at each round in the game, player is at liberty to choose values for variables in any way that she sees fit. Play continues for an infinite sequence of rounds, and so as players act they collectively trace out a model for , which for every player will either satisfy or fail to satisfy their goal. Players are assumed to act strategically, taking into account the goals of other players, in an attempt to bring about computations satisfying their goal. In this setting, we apply the standard game-theoretic concept of (pure) Nash equilibria. The (possibly empty) set of Nash equilibria of an iterated Boolean game can be understood as inducing a set of computations, each computation representing one way the system could evolve if players chose strategies that together constitute a Nash equilibrium. Such a set of equilibrium computations expresses a temporal property—which may or may not be expressible within a particular fragment. The new notion of expressiveness that we formally define and investigate is then as follows: What temporal properties are characterised by the Nash equilibria of games in which agent goals are expressed in specific fragments of ? We formally define and investigate this notion of expressiveness for a range of fragments. For example, a very natural question is the following: Suppose we have an iterated Boolean game in which every goal is represented using a particular fragment of : is it then always the case that the equilibria of the game can be characterised within ? We show that this is not true in general.

Exploring the Jungle of Intuitionistic Temporal Logics

AbstractThe importance of intuitionistic temporal logics in Computer Science and Artificial Intelligence has become increasingly clear in the last few years. From the proof-theory point of view, intuitionistic temporal logics have made it possible to extend functional programming languages with new features via type theory, while from the semantics perspective, several logics for reasoning about dynamical systems and several semantics for logic programming have their roots in this framework. We consider several axiomatic systems for intuitionistic linear temporal logic and show that each of these systems is sound for a class of structures based either on Kripke frames or on dynamic topological systems. We provide two distinct interpretations of “henceforth”, both of which are natural intuitionistic variants of the classical one. We completely establish the order relation between the semantically defined logics based on both interpretations of “henceforth” and, using our soundness results, show that the axiomatically defined logics enjoy the same order relations.

A UML 2.0 Activity Diagrams/CSP Integrated Approach for Modeling and Verification of Software Systems

This paper proposes an approach integrating UML 2.0 Activity Diagrams (UML2-AD) and Communicating Sequential Process (CSP) for modeling and verication of software systems. A UML2-AD is used for modeling a software system while CSP is used for verication purposes. The proposed approach consists of another way of transforming UML2-AD models to Communicating Sequential Process (CSP) models. It focuses also on checking the correctness of some properties of the transformation itself. These properties are specified using Linear Temporal Logic (LTL) and verified using the GROOVE model checker. This approach is based on Model Driven Engineering (MDE). The meta-modelling is realized using AToMPM tool while the model transformation and the correctness of its properties are realized using GROOVE tool. Finally, we illustrated this approach through a case study.

LTL-Specification of Counter Machines

The article is written in support of the educational discipline “Non-classical logics”. Within the framework of this discipline, the objects of study are the basic principles and constructive elements, with the help of which the formal construction of various non-classical propositional logics takes place. Despite the abstractness of the theory of non-classical logics, in which the main attention is paid to the strict mathematical formalization of logical reasoning, there are real practical areas of application of theoretical results. In particular, languages of temporal modal logics are widely used for modeling, specification, and verification (correctness analysis) of logic control program systems. This article demonstrates, using the linear temporal logic LTL as an example, how abstract concepts of non-classical logics can be reƒected in practice in the field of information technology and programming. We show the possibility of representing the behavior of a software system in the form of a set of LTL-formulas and using this representation to verify the satisfiability of program system properties through the procedure of proving the validity of logical inferences, expressed in terms of the linear temporal logic LTL. As program systems, for the specification of the behavior of which the LTL logic will be applied, Minsky counter machines are considered. Minsky counter machines are one of the ways to formalize the intuitive concept of an algorithm. They have the same computing power as Turing machines. A counter machine has the form of a computer program written in a high-level language, since it contains variables called counters, and conditional and unconditional jump operators that allow to build loop constructions. It is known that any algorithm (hypothetically) can be implemented in the form of a Minsky three-counter machine.

An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis

The majority of existing linear temporal logic (LTL) planning methods rely on the construction of a discrete product automaton, which combines a discrete abstraction of robot mobility and a Büchi automaton that captures the LTL specification. Representing this product automaton as a graph and using graph search techniques, optimal plans that satisfy the LTL task can be synthesized. However, constructing expressive discrete abstractions makes the synthesis problem computationally intractable. In this article, we propose a new sampling-based LTL planning algorithm that does not require any discrete abstraction of robot mobility. Instead, it incrementally builds trees that explore the product state-space, until a maximum number of iterations is reached or a feasible plan is found. The use of trees makes data storage and graph search tractable, which significantly increases the scalability of our algorithm. To accelerate the construction of feasible plans, we introduce bias in the sampling process, which is guided by transitions in the Büchi automaton that belong to the shortest path to the accepting states. We show that our planning algorithm, with and without bias, is probabilistically complete and asymptotically optimal. Finally, we present numerical experiments showing that our method outperforms relevant temporal logic planning methods.

Cloud manufacturing service composition in IoT applications: a formal verification-based approach

Nowadays, one of the new solutions to develop Internet of Things (IoT) applications is cloud manufacturing. By increasing the number of actuators, industrial devices and sensors in industry 4.0 technology, the IoT is going to improve the intelligence of the enterprise information systems with a fast transition towards flexible, smarter, automated and reactive services. In order to respond the needs more quickly or matching the cloud services with modified requirements, cloud manufacturing service composition is used to take advantage of several services available in the Industrial IoT applications. The cloud-based manufacturing services can be characterized, published, shared, and retrieved over the cloud infrastructure to provide integrated services according to the user QoS requirements in a collaborative environment. In this work, a service composition approach is provided for cloud manufacturing in IoT applications. For evaluating the correctness of the proposed solution, a formal verification method is presented based on Labeled Transition System (LTS). Also, Whale Optimization Algorithm (WOA) is utilized to enhance the Quality of Service (QoS), when the number of cloud services have been increased. Finally, deadlock-free and reachability factors as important logical problems are satisfied in verification of the proposed approach. The verification results obtained under different Linear Temporal Logic (LTL) properties and various number of cloud providers indicate that the proposed approach is a correct and valid solution and it outperforms in terms of the reachability, verification time, deadlock, and memory usage.

RT-MOBS: A compositional observer semantics of time Petri net for real-time property specification language based on μ-calculus

• Defines a new verification method supporting real-time property specification. • Focuses on the composability of expressiveness and the performance of verification. • Achieves several orders of magnitude improvement in the verification cost. We define a new verification method, called RT-MOBS, for checking real-time requirements based on Time Petri nets (TPN). Our approach supports requirements specified using a very expressive pattern language, the Property Specification Language (PSL) of Autili, Grusnke et al., and relies on marking observers' verification. RT-MOBS has many distinctive features, such as a focus on performances, a compositional method for deriving the observer and the target property directly from the structure of the specification pattern, and the ability to deal with the whole real-time fragment of PSL. We demonstrate the effectiveness of our approach from three industrial use cases: a mobile ad-hoc network system; the model of a flight management system, which is realistic with respect to the industry use during the architecture evaluation phase; and a model of an order to cash smart contract. Our experimental results show that we can achieve performances that are several orders of magnitude better than with methods based on an interpretation of patterns into Linear Temporal Logic (LTL) formulas.

Decentralized Control Synthesis for Air Traffic Management in Urban Air Mobility

Urban air mobility (UAM) refers to air transportation services within an urban area, often in an on-demand fashion. We study air traffic management (ATM) for vehicles in a UAM fleet, while guaranteeing system safety requirements such as traffic separation. Existing ATM methods for unmanned aerial systems, such as UAS traffic management, utilize alternative approaches which do not provide strict safety guarantees. No established infrastructure exists for providing ATM at scale for UAM. We provide a decentralized, hierarchical approach for UAM ATM that allows for scalability to high traffic densities as well as providing theoretical guarantees of correctness with respect to user-provided safety specifications. Our main contributions are two-fold. First, we propose a novel UAM ATM architecture that divides the control authority between vertihubs that are each in charge of all UAM vehicles in their local airspace. Each vertihub also contains a number of vertiports that are in charge of UAM vehicle takeoffs and landings. The resulting architecture is decentralized and hierarchical, which not only enables scalability, but also robustness in the event of any individual vertihub or vertiport no longer being operational. Second, we provide a contract-based correct-by-construction reactive synthesis approach that provably guarantees safety properties with respect to user-provided specifications in linear temporal logic. We demonstrate the approach on large-volume UAM air traffic data.

UNITY and B\xfcchi automata

UNITY is a model for concurrent specifications with a complete logic for proving progress properties of the form “P leads to Q”. UNITY is generalized to U-specifications by giving more freedom to specify the steps that are to be taken infinitely often. In particular, these steps can correspond to non-total relations. The generalization keeps the logic sound and complete. The paper exploits the generalization in two ways. Firstly, the logic remains sound when the specification is extended with hypotheses of the form “F leads to G”. As the paper shows, this can make the logic incomplete. The generalization is used to show that the logic remains complete, if the added hypotheses “F leads to G” satisfy “F unless G”. The main result extends the applicability and completeness of UNITY logic to proofs that a given concurrent program satisfies any given formula of LTL, linear temporal logic, without the next-operator which is omitted because it is sensitive to stuttering. For this purpose, the program, written as a UNITY program, is extended with a number of boolean variables. The proof method relies on implementing the LTL formula, i.e., restricting the specification in such a way that only those runs remain that satisfy the formula. This result is a variation of the classical construction of a Büchi automatonfor a given LTL formula that accepts precisely those runs that satisfy the formula.

Unified temporal logic

This paper proposes a new temporal logic named Unified Temporal Logic (UTL). First, the syntax and semantics of UTL are inductively defined. Further, logic laws in UTL are formalized and proved. Moreover, the normal forms of UTL formulas are defined and proved. To illustrate how to describe properties with UTL, an example of an elevator control system is given. In general, UTL combines the characteristics of Linear Temporal Logic (LTL) and Propositional Projection Temporal Logic (PPTL). So properties involving the “until” construct in LTL and the “chop” construct in PPTL can easily be represented in UTL. In addition, both finite and infinite models (intervals) are supported. With UTL, we are able to specify and verify some practical properties which cannot easily be formalized in LTL and PPTL.

Games of influence

AbstractIn this paper, we present two models for reasoning about strategic actions in opinion diffusion. In both models, the agents are endowed with goals expressed compactly in a suitably defined language of linear temporal logic and are connected in an influence network which defines the underlying opinion diffusion process. The agents can act by exerting their influence or retain from it: in one case, we assume an initial state of incomplete information about the agents’ opinions, while in the other, we assume that the agents have complete information. We investigate the interplay between simple network structures (e.g. certain acyclic graphs) and the existence of game-theoretic solution concepts for the unanimity aggregator. We also give bounds for the computational complexity of strategic reasoning in both our models on arbitrary networks.

Diamonds are not forever: liveness in reactive programming with guarded recursion

When designing languages for functional reactive programming (FRP) the main challenge is to provide the user with a simple, flexible interface for writing programs on a high level of abstraction while ensuring that all programs can be implemented efficiently in a low-level language. To meet this challenge, a new family of modal FRP languages has been proposed, in which variants of Nakano's guarded fixed point operator are used for writing recursive programs guaranteeing properties such as causality and productivity. As an apparent extension to this it has also been suggested to use Linear Temporal Logic (LTL) as a language for reactive programming through the Curry-Howard isomorphism, allowing properties such as termination, liveness and fairness to be encoded in types. However, these two ideas are in conflict with each other, since the fixed point operator introduces non-termination into the inductive types that are supposed to provide termination guarantees. In this paper we show that by regarding the modal time step operator of LTL a submodality of the one used for guarded recursion (rather than equating them), one can obtain a modal type system capable of expressing liveness properties while retaining the power of the guarded fixed point operator. We introduce the language Lively RaTT, a modal FRP language with a guarded fixed point operator and an `until' type constructor as in LTL, and show how to program with events and fair streams. Using a step-indexed Kripke logical relation we prove operational properties of Lively RaTT including productivity and causality as well as the termination and liveness properties expected of types from LTL. Finally, we prove that the type system of Lively RaTT guarantees the absence of implicit space leaks.

BeBoSy: Behavior Examples Meet Bounded Synthesis

Bounded synthesis generates a state machine satisfying given temporal specification in linear temporal logic (LTL) while bounding the number of states of the target solution. Bounded synthesis methods currently do not support finite-length behavior examples, which are often helpful when formulating the specification of the desired state machine. In this work we show how to incorporate behavior examples into bounded synthesis methods and exemplify the approach by presenting BeBoSy ( Behavior Examples meet BoSy ), an extension of the bounded synthesis tool BoSy based on reductions to Boolean satisfiability (SAT) and Quantified Boolean formula satisfiability (QSAT) problems. The proposed approach is to augment the encodings used in BoSy with additional constraints that ensure the compliance of the generated state machine with the given behavior examples. Experiments with openly available data from the annual reactive synthesis competition SYNTCOMP augmented with random behavior examples show that the efficiency of the proposed approach is superior to both BoSy (with naive representation of behavior examples with LTL formulas) and a state-of-the-art counterexample-guided approach EFSM-tools.

High-speed parameter search of dynamic biological pathways from time-course transcriptomic profiles using high-level Petri net

Dynamic simulation promises a deeper understanding of complex molecular mechanisms of biological pathways. How to determine the reaction kinetic parameters which govern the simulation results is still an open question in the field of systems biology. (1) Background: To execute simulation experiments, it is an essential first step to search effective values of model parameters. The complexity of biological systems and the experimental measurement technology severely limit the acquirement of accurate kinetic parameters. Previously proposed genomic data assimilation (GDA) approach enables users to handle parameter estimation using time-course information. However, it highly depends on successive time points and costs massive computational resource; (2) Methods: To address this problem, we present a new high-speed parameter search method for estimating the kinetic parameters of quantitative biological pathways using time-course transcriptomic profiles. The key idea of our method is to interactively prune the search space by introducing Probabilistic Linear-time Temporal Logic (PLTL) based model checking into GDA. (3) Results and conclusion: We demonstrated the effectiveness of our method by comparing with GDA on Mus musculus transcription circuits modelled by hybrid functional Petri net with extension. As a result, our method works faster and more accurate than GDA for both time-course datasets with dense and sparse observed values.