Syntactic obligations are a fragment of LTL formulas that translate to deterministic weak ω-automata (DWA). We show that syntactic obligations can be very efficiently converted to minimal DWA represented using multi-terminal binary decision diagrams (MTBDDs), and that synthesis of such specifications can be solved directly on the MTBDD representation on the fly. Our implementation in Spot shows substantial runtime improvements in translation and synthesis.

Autonomous multi-agent systems use different modes of communication to support their autonomy and ease of interaction. In order to enable modelling and reasoning about such systems, we need frameworks that combine many forms of communication. R-CHECK is a modelling, simulation, and verification environment supporting the development of multi-agent systems, providing attributed channelled broadcast and multicast communication. Another common communication mode is point-to-point, wherein agents communicate with each other directly. Capturing point-to-point through R-CHECK’s multicast and broadcast is possible, but cumbersome and prone to interference. Here, we extend R-CHECK (and its underlying formal calculus ReCiPe) with bidirectional attributed point-to-point communication, which can be established based on identity or properties of participants. Moreover, we provide a compositional semantics that clearly describes how different modes of interaction co-exist without interference. We also support model-checking of point-to-point interactions by extending linear temporal logic with observation descriptors related to the participants in this communication mode. We argue that these extensions simplify the design, and demonstrate their benefits by means of an illustrative case study.

Nearly a decade ago, Calude et al. showed that parity games can be solved in quasi-polynomial time. This result is now understood in terms of universal trees. By reduction to parity games, the quasi-polymonial result can benefit all omega-regular games. However, beyond such reductions, and with the exception of Rabin games, our understanding of the role of universal trees in direct solutions is still quite limited. In this work, we refute the common view that universal trees are relevant only for games that admit memoryless winning strategies. We contribute a full understanding of how universal trees interact with Zielonka trees for the solution of Streett and Emerson-Lei games. As a consequence, we show that winning regions and strategies in Streett games with n vertices, m edges, and k pairs can be computed in time O(mklog(k)k!|U(n,k)|), where U(n,k) is a universal tree for n leaves and depth k. This improves upon the best previously known complexity result for Streett games, which relied on reduction to parity games and their quasi-polynomial solution. Furthermore, we show that winning regions and strategies for Emerson-Lei games with n vertices, m edges, and c colors can be computed in time O(mclog(c)c!|U(n,c/2)|), again improving over reductions to parity games. Notably, our approach yields memory-optimal strategies, in contrast to those obtained via reductions to parity games. Finally, we show how universal trees can be used to bound the recursion tree of the Zielonka-McNaughton algorithm for Emerson-Lei games. This leads to a symbolic algorithm that replaces the factor n^c in the time complexity of existing symbolic approaches with |U(n,c)|.

We study synthesis for obligation properties expressed in LTLfp, the extension of LTLf to infinite traces. Obligation properties are positive Boolean combinations of safety and guarantee (co-safety) properties and form the second level of the temporal hierarchy of Manna and Pnueli. Although obligation properties are expressed over infinite traces, they retain most of the simplicity of LTLf. In particular, we show that they admit a translation into symbolically represented deterministic weak automata (DWA) obtained directly from the symbolic deterministic finite automata (DFA) for the underlying LTLf properties on trace prefixes. DWA inherit many of the attractive algorithmic features of DFA, including Boolean closure and polynomial-time minimization. Moreover, we show that synthesis for LTLfp obligation properties is theoretically highly efficient - solvable in linear time once the DWA is constructed. We investigate several symbolic algorithms for solving DWA games that arise in the synthesis of obligation properties and evaluate their effectiveness experimentally. Overall, the results indicate that synthesis for LTLfp obligation properties can be performed with virtually the same effectiveness as LTLf synthesis.

Recent years have seen a significant increase in the interest in reactive synthesis from specifications that relate to infinite state spaces. We present sweap, a tool for synthesis of infinite-state Linear Integer Arithmetic reactive systems. sweap implements a CEGAR approach, relying on state-of-the-art finite-state synthesis tools as black boxes to solve abstract synthesis problems. sweap supports most common input formalisms for infinite-state reactive-synthesis problems: Temporal Stream Logic Modulo Theories, Reactive Program Games, the bespoke input of the ISSY tool, and our own bespoke input. We present a mature version of sweap with novel features: a dual abstraction approach that improves its capabilities in proving unrealisability, support for nondeterministic and unbounded updates, more general initialization of variables, and equirealisable reductions for optimisation. Experimental evaluation shows that sweap outperforms its only competitor in this domain.

We revisit constructions for distribution and synthesis of Zielonka's asynchronous automata in restricted settings. We show first a simple, quadratic, distribution construction for asynchronous automata, where the process architecture is tree-like. An architecture is tree-like if there is an underlying spanning tree of the architecture and communications are local on the tree. This quadratic distribution result generalizes the known construction for tree architectures and improves on an older, exponential construction for triangulated dependence alphabets. Lastly we consider the problem of distributed controller synthesis and show that it is decidable for tree-like architectures. This extends the decidability boundary from tree architectures to tree-like keeping the same Tower_d(n) complexity bound, where n is the size of the system and d ≥ 0 the depth of the process tree.

Recently, interest has increased in applying reactive synthesis to richer-than-Boolean domains. A major (undecidable) challenge in this area is to establish when certain repeating behaviour terminates in a desired state when the number of steps is unbounded. Existing approaches struggle with this problem, or can handle at most deterministic games with Büchi goals. This work goes beyond by contributing the first effectual approach to synthesis with full LTL objectives, based on Boolean abstractions that encode both safety and liveness properties of the underlying infinite arena. We take a CEGAR approach: attempting synthesis on the Boolean abstraction, checking spuriousness of abstract counterstrategies through invariant checking, and refining the abstraction based on counterexamples. We reduce the complexity, when restricted to predicates, of abstracting and synthesising by an exponential through an efficient binary encoding. This also allows us to eagerly identify useful fairness properties. Our discrete synthesis tool outperforms the state-of-the-art on linear integer arithmetic (LIA) benchmarks from literature, solving almost double as many syntesis problems as the current state-of-the-art. It also solves slightly more problems than the second-best realisability checker, in one-third of the time. We also introduce benchmarks with richer objectives that other approaches cannot handle, and evaluate our tool on them.

We consider the problem of distributing a centralised transition system to a set of asynchronous agents recognising the same language. Existing solutions are either manual or involve a huge explosion in the number of states from the centralised system. The difficulty arises from the need to keep a rigid communication scheme, specifying a fixed mapping from events to those who can participate in them. Thus, individual agents need to memorise seen events and their order to dynamically compare their knowledge with others when communicating. To bypass this, we rely on reconfigurable communication: agents decide locally “by-need” when to participate or discard specific events during execution while not impacting the progress of the joint computation. Our distribution relies on a novel notion of Parametric Reconfigurable Bisimulation, that identifies the only required participations. We show how to compute this bisimulation and that such minimisation produces a joint system that is bisimilar to the original centralised one. We use a case study to show its effectiveness by producing agents that are much smaller than the centralised system and jointly perform the same computations. As a notable application, we use this distribution in order to allow for distributed synthesis from global specifications. In this case, rigid communication leads to undecidability, which is bypassed by our ability to dynamically prune communications.

Recently, the Manna-Pnueli Hierarchy has been used to define the temporal logics LTLfp and PPLTLp, which allow to use finite-trace LTLf/PPLTL techniques in infinite-trace settings while achieving the expressiveness of full LTL. In this paper, we present the first actual solvers for reactive synthesis in these logics. These are based on games on graphs that leverage DFA-based techniques from LTLf/PPLTL to construct the game arena. We start with a symbolic solver based on Emerson-Lei games, which reduces lower-class properties (guarantee, safety) to higher ones (recurrence, persistence) before solving the game. We then introduce Manna-Pnueli games, which natively embed Manna-Pnueli objectives into the arena. These games are solved by composing solutions to a DAG of simpler Emerson-Lei games, resulting in a provably more efficient approach. We implemented the solvers and practically evaluated their performance on a range of representative formulas. The results show that Manna-Pnueli games often offer significant advantages, though not universally, indicating that combining both approaches could further enhance practical performance.

The problem of LTLf reactive synthesis is to build a transducer, whose output is based on a history of inputs, such that, for every infinite sequence of inputs, the conjoint evolution of the inputs and outputs has a prefix that satisfies a given LTLf specification. We describe the implementation of an LTLf synthesizer that outperforms existing tools on our benchmark suite. This is based on a new, direct translation from LTLf to a DFA represented as an array of Binary Decision Diagrams (MTBDDs) sharing their nodes. This MTBDD-based representation can be interpreted directly as a reachability game that is solved on-the-fly during its construction.

We study how to distribute trace languages in a setting where processes communicate via reconfigurable communication channels. That is, the different processes can connect and disconnect from channels at run time. We restrict attention to communication via tree-like communication architectures. These allow channels to connect more than two processes in a way that maintains an underlying spanning tree and keeps communication continuous on the tree. We make the reconfiguration explicit in the language allowing both a centralized automaton as well as the distributed processes to share relevant information about the current communication configuration. We show that Zielonka's seminal result regarding distribution of regular languages for asynchronous automata can be generalized in this setting, incorporating both reconfiguration and more than binary tree architectures.

Emerson-Lei conditions have recently attracted attention due to both their succinctness and their favorable closure properties. In the current work, we show how infinite-duration games with Emerson-Lei objectives can be analyzed in two different ways. First, we show that the Zielonka tree of the Emerson-Lei condition naturally gives rise to a new reduction to parity games. This reduction, however, does not result in optimal analysis. Second, we show based on the first reduction (and the Zielonka tree) how to provide a direct fixpoint-based characterization of the winning region. The fixpoint-based characterization allows for symbolic analysis. It generalizes the solutions of games with known winning conditions such as Büchi, GR[1], parity, Streett, Rabin and Muller objectives, and in the case of these conditions reproduces previously known symbolic algorithms and complexity results. We also show how the capabilities of the proposed algorithm can be exploited in reactive synthesis, suggesting a new expressive fragment of LTL that can be handled symbolically. Our fragment combines a safety specification and a liveness part. The safety part is unrestricted and the liveness part allows to define Emerson-Lei conditions on occurrences of letters. The symbolic treatment is enabled due to the simplicity of determinization in the case of safety languages and by using our new algorithm for game solving. This approach maximizes the number of steps solved symbolically in order to maximize the potential for efficient symbolic implementations.

Obliging games have been introduced in the context of the game perspective on reactive synthesis in order to enforce a degree of cooperation between the to-be-synthesized system and the environment. Previous approaches to the analysis of obliging games have been small-step in the sense that they have been based on a reduction to standard (non-obliging) games in which single moves correspond to single moves in the original (obliging) game. Here, we propose a novel, large-step view on obliging games, reducing them to standard games in which single moves encode long-term behaviors in the original game. This not only allows us to give a meaningful definition of the environment winning in obliging games, but also leads to significantly improved bounds on both strategy sizes and the solution runtime for obliging games.

Autonomous multi-agent, or more generally, collective adaptive systems, use different modes of communication to support their autonomy and ease of interaction. In order to enable modelling and reasoning about such systems, we need frameworks that combine many forms of communication. R-CHECK is a modelling, simulation, and verification environment supporting the development of multi-agent systems, providing attributed channelled broadcast and multicast communication. That is, the communication is not merely derived based on connectivity to channels but in addition based on properties of targeted receiversȦnother common communication mode is point-to-point, wherein agents communicate with each other directly. Capturing point-to-point through R-CHECK’s multicast and broadcast is possible but cumbersome, inefficient, and prone to interference. Here, we extend R-CHECK with attributed point-to-point communication, which can be established based on identity or properties of participants. We also support model-checking of point-to-point by extending linear temporal logic with observation descriptors related to the participants in this communication mode. We argue that these extensions simplify the design of models, and demonstrate their benefits by means of an illustrative case study.

We consider two-player games over finite graphs in which both players are restricted by fairness constraints on their moves. Given a two player game graph G=(V,E) and a set of fair moves E_f⊆ E a player is said to play fair in G if they choose an edge e∈ E_f infinitely often whenever the source node of e is visited infinitely often. Otherwise, they play unfair. We equip such games with two ω -regular winning conditions α and β deciding the winner of mutually fair and mutually unfair plays, respectively. Whenever one player plays fair and the other plays unfair, the fairly playing player wins the game. The resulting games are called fair α /β games. We formalize fair α /β games and show that they are determined. For fair parity/parity games, i.e., fair α /β games where α and β are given each by a parity condition over G, we provide a polynomial reduction to (normal) parity games via a gadget construction inspired by the reduction of stochastic parity games to parity games. We further give a direct symbolic fixpoint algorithm to solve fair parity/parity games. On a conceptual level, we illustrate the translation between the gadget-based reduction and the direct symbolic algorithm which uncovers the underlying similarities of solution algorithms for fair and stochastic parity games, as well as for the recently considered class of fair games in which only one player is restricted by fair moves.

We study an extension of Zielonka's (fixed) asynchronous automata called reconfigurable asynchronous automata where processes can dynamically change who they communicate with. We show that reconfigurable asynchronous automata are not more expressive than fixed asynchronous automata by giving translations from one to the other. However, going from reconfigurable to fixed comes at the cost of disseminating communication (and knowledge) to all processes in the system. We then show that this is unavoidable by describing a language accepted by a reconfigurable automaton such that in every equivalent fixed automaton, every process must either be aware of all communication or be irrelevant.

We present a translation from linear temporal logic with past to deterministic Rabin automata. The translation is direct in the sense that it does not rely on intermediate non-deterministic automata, and asymptotically optimal, resulting in Rabin automata of doubly exponential size. It is based on two main notions. One is that it is possible to encode the history contained in the prefix of a word, as relevant for the formula under consideration, by performing simple rewrites of the formula itself. As a consequence, a formula involving past operators can (through such rewrites, which involve alternating between weak and strong versions of past operators in the formula's syntax tree) be correctly evaluated at an arbitrary point in the future without requiring backtracking through the word. The other is that this allows us to generalize to linear temporal logic with past the result that the language of a pure-future formula can be decomposed into a Boolean combination of simpler languages, for which deterministic automata with simple acceptance conditions are easily constructed.

In recent years, there has been an increasing interest in the connections between supervisory control theory and reactive synthesis. As the two fields use similar techniques there is great hope that technologies from one field could be used in the other. In this spirit, we provide an alternative reduction from the supervisor synthesis problem to solving Büchi games via games with a non-blocking objective. Our reduction is more compact and uniform than previous reductions. As a consequence, it gives an asymptotically better upper bound on the time complexity of the supervisory control synthesis problem. Our reduction also breaks a widely held belief about the impossibility of reducing the supervisory control synthesis problem to a game with a linear winning condition.

Effectively specifying and implementing robotic missions poses a set of challenges to software engineering for robotic systems. These challenges stem from the need to formalize and execute a robot's high-level tasks while considering various application scenarios and conditions, also known as contexts, in real-world operational environments. Writing correct mission specifications that explicitly account for multiple contexts can be tedious and error-prone. Furthermore, as the number of contexts, and consequently the complexity of the specification, increases, generating a correct-by-construction implementation (e.g., by using synthesis methods) can become intractable. A viable approach to address these issues is to decompose the mission specification into smaller, manageable sub-missions, with each sub-mission tailored to a specific context. Nevertheless, this compositional approach introduces its own set of challenges in ensuring the overall mission's correctness. In this paper, we propose a novel compositional framework for specifying and implementing contextual robotic missions using assume-guarantee contracts. The mission specification is structured in a hierarchical and modular fashion, allowing for each sub-mission to be synthesized as an independent robot controller. We address the problem of dynamically switching between sub-mission controllers while ensuring correctness under predefined conditions.