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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.
;Khushraj Madnani
, 2024, When Do You Start Counting? Revisiting Counting and Pnueli Modalities in Timed Logics, Electronic Proceedings in Theoretical Computer Science, 408, pp. 73-89, 10.4204/eptcs.408.5, http://doi.org/10.4204/eptcs.408.5.
, 2024, Reminiscences of a Real-Time Researcher, Lecture notes in computer science, pp. 154-164, 10.1007/978-3-031-73751-0_12.
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;et al., 2023, Towards Building Verifiable CPS using Lingua Franca, ACM Transactions on Embedded Computing Systems, 22, 5s, pp. 1-24, 10.1145/3609134, https://doi.org/10.1145/3609134.
;Marco Montali
, 2022, Declarative Process Specifications: Reasoning, Discovery, Monitoring, Lecture notes in business information processing, pp. 108-152, 10.1007/978-3-031-08848-3_4, https://doi.org/10.1007/978-3-031-08848-3_4.
;Martín Diéguez
;Torsten Schaub
;Anna Schuhmann, 2022, Metric Temporal Answer Set Programming over Timed Traces, Lecture notes in computer science, pp. 117-130, 10.1007/978-3-031-15707-3_10.
;Jakub Michaliszyn
, 2021, “Most of” leads to undecidability: Failure of adding frequencies to LTL, Lecture notes in computer science, pp. 82-101, 10.1007/978-3-030-71995-1_5, https://doi.org/10.1007/978-3-030-71995-1_5.
, 2021, On the termination and structural termination problems for counter machines with incrementing errors, Journal of Computer and System Sciences, 120, pp. 149-161, 10.1016/j.jcss.2021.03.007.
;Toshimitsu USHIO
, 2021, Optimal Control of Timed Petri Nets Under Temporal Logic Constraints with Generalized Mutual Exclusion, IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences, E105.A, 5, pp. 808-815, 10.1587/transfun.2021map0003.
;Angelo Montanari
;Adriano Peron
, 2021, Complexity issues for timeline-based planning over dense time under future and minimal semantics, ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/), 901, pp. 87-113, 10.1016/j.tcs.2021.12.004, https://hdl.handle.net/11368/3032319.
;Juan José Conejero Rodríguez;David Fernández-Duque
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, 2020, To drive or not to drive: A logical and computational analysis of European transport regulations, Information and Computation, 280, pp. 104636, 10.1016/j.ic.2020.104636.
;Ruoyu Zhou
;Timothy M. Jones
, 2020, Timed hyperproperties, Sussex Research Online (University of Sussex), 280, pp. 104639, 10.1016/j.ic.2020.104639, http://sro.sussex.ac.uk/id/eprint/94743/1/IandC_accepted_manuscript.pdf.
;Alberto Molinari
;Angelo Montanari
;Adriano Peron
;Gerhard Woeginger
, 2020, Timeline-based planning over dense temporal domains, ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/), 813, pp. 305-326, 10.1016/j.tcs.2019.12.030, https://www.sciencedirect.com/science/article/pii/S0304397519308126.
;Aniello Murano
;Adriano Peron
, 2020, Context-free timed formalisms: Robust automata and linear temporal logics, ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/), 283, pp. 104673, 10.1016/j.ic.2020.104673, https://hdl.handle.net/11368/3032321.
, 2019, On the Termination Problem for Counter Machines with Incrementing Errors, Lecture notes in computer science, pp. 137-148, 10.1007/978-3-030-30806-3_11.
, 2019, Revisiting timed logics with automata modalities, SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University), pp. 67-76, 10.1145/3302504.3311818.
;Claudia Carapelle
;Oliver Fernández Gil
;Karin Quaas, 2019, MTL and TPTL for One-Counter Machines, ACM Transactions on Computational Logic, 21, 2, pp. 1-34, 10.1145/3372789.
;Kerstin Eder
, 2018, Safe and Trustworthy Human-Robot Interaction, Humanoid Robotics: A Reference, pp. 2397-2419, 10.1007/978-94-007-6046-2_131.
;Martin Steffen
;Johanna Beate Stumpf;Lars Tveito, 2018, Checking Modal Contracts for Virtually Timed Ambients, Lecture notes in computer science, pp. 252-272, 10.1007/978-3-030-02508-3_14.
;Alberto Molinari
;Angelo Montanari
;Adriano Peron
, 2018, Complexity of Timeline-Based Planning over Dense Temporal Domains: Exploring the Middle Ground, Electronic Proceedings in Theoretical Computer Science, 277, pp. 191-205, 10.4204/eptcs.277.14, https://doi.org/10.4204/eptcs.277.14.
;Aniello Murano
;Adriano Peron
, 2018, Timed Context-Free Temporal Logics, Electronic Proceedings in Theoretical Computer Science, 277, pp. 235-249, 10.4204/eptcs.277.17, https://doi.org/10.4204/eptcs.277.17.
;Uli Fahrenberg
;Kim Guldstrand Larsen
;Nicolas Markey
;Joël Ouaknine
;et al., 2018, Model Checking Real-Time Systems, pp. 1001-1046, 10.1007/978-3-319-10575-8_29, https://hal.science/hal-01889280.
;Kerstin Eder
, 2017, Safe and Trustworthy Human Robot Interaction, Humanoid Robotics: A Reference, pp. 1-23, 10.1007/978-94-007-7194-9_131-1.
;Gilles Geeraerts;Hsi-Ming Ho
;Benjamin Monmege
, 2017, MightyL: A Compositional Translation from MITL to Timed Automata, pp. 421-440, 10.1007/978-3-319-63387-9_21, https://hal.science/hal-01525524.
, 2017, What’s decidable about parametric timed automata?, arXiv (Cornell University), 21, 2, pp. 203-219, 10.1007/s10009-017-0467-0, http://arxiv.org/abs/1907.01721.
;Marco Pazzaglia;Pietro Sala
, 2016, Metric propositional neighborhood logic with an equivalence relation, Institutional Research Information System (University of Udine), 53, 6-8, pp. 621-648, 10.1007/s00236-016-0256-3, http://hdl.handle.net/11390/1110493.
;Paola Spoletini
, 2016, Bounded variability of metric temporal logic, Annals of Mathematics and Artificial Intelligence, 80, 3-4, pp. 283-316, 10.1007/s10472-016-9532-8, https://doi.org/10.1007/s10472-016-9532-8.
;Takumi Akazaki
;Ichiro Hasuo
, 2016, A Boyer-Moore Type Algorithm for Timed Pattern Matching, arXiv (Cornell University), pp. 121-139, 10.1007/978-3-319-44878-7_8, http://arxiv.org/abs/1606.07207.
;Joël Ouaknine
;James Worrell
, 2016, Zeno, Hercules, and the Hydra, ACM Transactions on Computational Logic, 17, 3, pp. 1-27, 10.1145/2874774.
;Bernard Berthomieu
, 2016, Automating the Verification of Realtime Observers Using Probes and the Modal mu-calculus, arXiv (Cornell University), pp. 90-104, 10.1007/978-3-319-28678-5_7, http://arxiv.org/abs/1509.06507.
, 2016, Complexity Hierarchies beyond Elementary, arXiv (Cornell University), 8, 1, pp. 1-36, 10.1145/2858784, http://arxiv.org/abs/1312.5686.
;Marco Pazzaglia;Pietro Sala
, 2015, Adding one or more equivalence relations to the interval temporal logic ABB¯, Theoretical Computer Science, 629, pp. 116-134, 10.1016/j.tcs.2015.11.030.
;Giovanni Bacci
;Kim Guldstrand Larsen
;Radu Mardare
, 2015, On the Total Variation Distance of Semi-Markov Chains, Lecture notes in computer science, pp. 185-199, 10.1007/978-3-662-46678-0_12.
;Jing Liu
;Xiaohong Chen
;Dehui Du
, 2015, Specifying Cyber Physical System Safety Properties with Metric Temporal Spatial Logic, 2015 Asia-Pacific Software Engineering Conference (APSEC), 62, pp. 254-260, 10.1109/apsec.2015.58.
;Markus Lohrey
;Karin Quaas, 2015, Path Checking for MTL and TPTL over Data Words, Lecture notes in computer science, pp. 326-339, 10.1007/978-3-319-21500-6_26.
;Marco Pazzaglia;Pietro Sala
, 2014, Metric Propositional Neighborhood Logic with an Equivalence Relation, 2014 21st International Symposium on Temporal Representation and Reasoning, 66, pp. 49-58, 10.1109/time.2014.26.
;Shiguang Feng
;Oliver Fernández Gil
;Karin Quaas, 2014, Satisfiability for MTL and TPTL over Non-monotonic Data Words, Lecture notes in computer science, pp. 248-259, 10.1007/978-3-319-04921-2_20.
;Didier Le Botlan
, 2014, A formal framework to specify and verify real-time properties on critical systems, 5, 1/2, pp. 4, 10.1504/ijccbs.2014.059593, https://hal.science/hal-00941248.
;Morgane Estiévenart;Gilles Geeraerts, 2014, On MITL and Alternating Timed Automata over Infinite Words, Lecture notes in computer science, pp. 69-84, 10.1007/978-3-319-10512-3_6.
;Pietro Sala
, 2013, Adding an Equivalence Relation to the Interval Logic ABB: Complexity and Expressiveness, Institutional Research Information System (University of Udine), pp. 193-202, 10.1109/lics.2013.25.
, 2013, A survey of timed automata for the development of real-time systems, Computer Science Review, 9, pp. 1-26, 10.1016/j.cosrev.2013.05.001.
;Joël Ouaknine
;James Worrell
, 2013, Zeno, Hercules and the Hydra: Downward Rational Termination Is Ackermannian, Lecture notes in computer science, pp. 643-654, 10.1007/978-3-642-40313-2_57.
, 2013, Specifying safety-critical systems with a decidable duration logic, Science of Computer Programming, 80, pp. 264-287, 10.1016/j.scico.2013.07.012.
;Philippe Schnoebelen, 2013, The Power of Well-Structured Systems, arXiv (Cornell University), pp. 5-24, 10.1007/978-3-642-40184-8_2, http://arxiv.org/abs/1402.2908.
;Morgane Estiévenart;Gilles Geeraerts, 2013, On MITL and Alternating Timed Automata, Lecture notes in computer science, pp. 47-61, 10.1007/978-3-642-40229-6_4.
;Dino Mandrioli
;Angelo Morzenti
;Matteo Rossi
, 2012, Logic-Based Formalisms, Monographs in theoretical computer science, pp. 249-323, 10.1007/978-3-642-32332-4_9.
;H. Hachichi;S. D. Eddine, 2012, A simple approach for reducing timed automata, 2012 International Conference on Information Technology and e-Services, 2285, pp. 1-6, 10.1109/icites.2012.6216600.
, 2012, Reducing Timed Automata: A New Approach, SSRN Electronic Journal, 10.2139/ssrn.3896125, https://doi.org/10.2139/ssrn.3896125.
;Hiba Hachichi;Kenza Bouaroudj, 2012, Reducing Timed Automata: A New Approach, Zenodo (CERN European Organization for Nuclear Research), 10.5281/zenodo.2613142, https://zenodo.org/record/2613142.
;Didier Le Botlan
, 2012, Real-Time Specification Patterns and Tools, arXiv (Cornell University), pp. 1-15, 10.1007/978-3-642-32469-7_1, http://arxiv.org/abs/1301.7534.
;Patricia Bouyer
;Thomas Brihaye
;Amélie Stainer, 2011, Emptiness and Universality Problems in Timed Automata with Positive Frequency, Lecture notes in computer science, pp. 246-257, 10.1007/978-3-642-22012-8_19.
;Marco Diciolla;Marta Kwiatkowska
;Alexandru Mereacre
, 2011, Time-Bounded Verification of CTMCs against Real-Time Specifications, Lecture notes in computer science, pp. 26-42, 10.1007/978-3-642-24310-3_4.
;Gabriele Puppis
;Pietro Sala
, 2010, Maximal Decidable Fragments of Halpern and Shoham’s Modal Logic of Intervals, pp. 345-356, 10.1007/978-3-642-14162-1_29, https://hal.science/hal-00717788.
;James Worrell
, 2010, Towards a Theory of Time-Bounded Verification, Lecture notes in computer science, pp. 22-37, 10.1007/978-3-642-14162-1_3.
;Alexander Rabinovich
;James Worrell
, 2010, Alternating Timed Automata over Bounded Time, Oxford University Research Archive (ORA) (University of Oxford), 999, pp. 60-69, 10.1109/lics.2010.45.
;Simoni S. Shah, 2010, Unambiguity in Timed Regular Languages: Automata and Logics, Lecture notes in computer science, pp. 168-182, 10.1007/978-3-642-15297-9_14.
;Nathalie Bertrand
;Patricia Bouyer
;Thomas Brihaye
, 2009, When Are Timed Automata Determinizable?, Lecture notes in computer science, pp. 43-54, 10.1007/978-3-642-02930-1_4.
;Alexander Rabinovich
;James Worrell
, 2009, Time-Bounded Verification, Lecture notes in computer science, pp. 496-510, 10.1007/978-3-642-04081-8_33.
, 2009, Model-checking Timed Temporal Logics, Electronic Notes in Theoretical Computer Science, 231, pp. 323-341, 10.1016/j.entcs.2009.02.044, https://doi.org/10.1016/j.entcs.2009.02.044.
;Igor Walukiewicz, 2009, Weak Alternating Timed Automata, Lecture notes in computer science, pp. 273-284, 10.1007/978-3-642-02930-1_23.
;Matteo Rossi
, 2008, MTL with Bounded Variability: Decidability and Complexity, Lecture notes in computer science, pp. 109-123, 10.1007/978-3-540-85778-5_9.
;James Worrell
, 2008, Some Recent Results in Metric Temporal Logic, Lecture notes in computer science, pp. 1-13, 10.1007/978-3-540-85778-5_1.
;Nicolas Markey
;Pierre-Alain Reynier, 2008, Robust Analysis of Timed Automata Via Channel Machines, Lecture notes in computer science, pp. 157-171, 10.1007/978-3-540-78499-9_12, https://doi.org/10.1007/978-3-540-78499-9_12.
;Matteo Rossi
, 2007, On the Expressiveness of MTL Variants over Dense Time, Lecture notes in computer science, pp. 163-178, 10.1007/978-3-540-75454-1_13.
;Nicolas Markey
;Joel Ouaknine
;James Worrell
, 2007, The Cost of Punctuality, pp. 109-120, 10.1109/lics.2007.49, https://hal.science/hal-01194604.
