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Sergei Artemov
Anil Nerode (Eds.)
LNCS 10703
Logical Foundations
of Computer Science
International Symposium, LFCS 2018
Deerfield Beach, FL, USA, January 8–11, 2018
Proceedings
123
Lecture Notes in Computer Science 10703
Commenced Publication in 1973
Founding and Former Series Editors:
Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen
Editorial Board
David Hutchison
Lancaster University, Lancaster, UK
Takeo Kanade
Carnegie Mellon University, Pittsburgh, PA, USA
Josef Kittler
University of Surrey, Guildford, UK
Jon M. Kleinberg
Cornell University, Ithaca, NY, USA
Friedemann Mattern
ETH Zurich, Zurich, Switzerland
John C. Mitchell
Stanford University, Stanford, CA, USA
Moni Naor
Weizmann Institute of Science, Rehovot, Israel
C. Pandu Rangan
Indian Institute of Technology, Madras, India
Bernhard Steffen
TU Dortmund University, Dortmund, Germany
Demetri Terzopoulos
University of California, Los Angeles, CA, USA
Doug Tygar
University of California, Berkeley, CA, USA
Gerhard Weikum
Max Planck Institute for Informatics, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/7407
Sergei Artemov Anil Nerode (Eds.)
•
Logical Foundations
of Computer Science
International Symposium, LFCS 2018
Deerfield Beach, FL, USA, January 8–11, 2018
Proceedings
123
Editors
Sergei Artemov Anil Nerode
City University of New York Cornell University
New York, NY Ithaca, NY
USA USA
The Symposium on Logical Foundations of Computer Science provides a forum for the
fast-growing body of work on the logical foundations of computer science, e.g., those
areas of fundamental theoretical logic related to computer science. The LFCS series
began with “Logic at Botik,” Pereslavl-Zalessky, 1989, which was co-organized by
Albert R. Meyer (MIT) and Michael Taitslin (Tver). After that, organization passed to
Anil Nerode.
Currently LFCS is governed by a Steering Committee consisting of Anil Nerode
(General Chair), Stephen Cook, Dirk van Dalen, Yuri Matiyasevich, Gerald Sacks,
Andre Scedrov, and Dana Scott.
The 2018 Symposium on Logical Foundations of Computer Science (LFCS 2018)
took place at the Wyndham Deerfield Beach Resort, Deerfield Beach, Florida, USA,
during January 8–11, 2018. This volume contains the extended abstracts of talks
selected by the Program Committee for presentation at LFCS 2018.
The scope of the symposium is broad and includes constructive mathematics and
type theory, homotopy type theory, logic, automata and automatic structures, com-
putability and randomness, logical foundations of programming, logical aspects of
computational complexity, parameterized complexity, logic programming and con-
straints, automated deduction and interactive theorem proving, logical methods in
protocol and program verification, logical methods in program specification and
extraction, domain theory logics, logical foundations of database theory, equational
logic and term rewriting, lambda and combinatory calculi, categorical logic and
topological semantics, linear logic, epistemic and temporal logics, intelligent and
multiple-agent system logics, logics of proof and justification, non-monotonic rea-
soning, logic in game theory and social software, logic of hybrid systems, distributed
system logics, mathematical fuzzy logic, system design logics, and other logics in
computer science.
We thank the authors and reviewers for their contributions. We acknowledge the
support of the U.S. National Science Foundation, The Association for Symbolic Logic,
Cornell University, the Graduate Center of the City University of New York, and
Florida Atlantic University.
Steering Committee
Stephen Cook University of Toronto, Canada
Yuri Matiyasevich Steklov Mathematical Institute, St. Petersburg, Russia
Anil Nerode (General Chair) Cornell University, USA
Gerald Sacks Harvard University, USA
Andre Scedrov University of Pennsylvania, USA
Dana Scott Carnegie-Mellon University, USA
Dirk van Dalen Utrecht University, The Netherlands
Program Committee
Sergei Artemov (Chair) The City University of New York, USA
Eugene Asarin Université Paris Diderot - Paris 7, France
Steve Awodey Carnegie Mellon University, USA
Matthias Baaz The Vienna University of Technology, Austria
Lev Beklemishev Steklov Mathematical Institute, Moscow, Russia
Andreas Blass University of Michigan, Ann Arbor, USA
Samuel Buss University of California, San Diego, USA
Robert Constable Cornell University, USA
Thierry Coquand University of Gothenburg, Sweden
Nachum Dershowitz Tel Aviv University, Israel
Michael Fellows University of Bergen, Norway
Melvin Fitting The City University of New York, USA
Sergey Goncharov Sobolev Institute of Mathematics, Novosibirsk, Russia
Denis Hirschfeldt University of Chicago, USA
Martin Hyland University of Cambridge, UK
Rosalie Iemhoff Utrecht University, The Netherlands
Hajime Ishihara Japan Advanced Institute of Science and Technology,
Kanazawa, Japan
Bakhadyr Khoussainov The University of Auckland, New Zealand
Roman Kuznets The Vienna University of Technology, Austria
Daniel Leivant Indiana University Bloomington, USA
Robert Lubarsky Florida Atlantic University, USA
Victor Marek University of Kentucky, Lexington, USA
Lawrence Moss Indiana University Bloomington, USA
Anil Nerode Cornell University, USA
Hiroakira Ono Japan Advanced Institute of Science and Technology,
Kanazawa, Japan
Alessandra Palmigiano Delft University of Technology, The Netherlands
Ruy de Queiroz The Federal University of Pernambuco, Recife, Brazil
VIII Organization
Additional Reviewers
Josef Berger
S. P. Suresh
Catalin Dima
Giuseppe Greco
Yanjing Wang
Heinrich Wansing
Toshiyasu Arai
Lutz Straßburger
Rohit Parikh
Contents
Antonis Achilleos(B)
1 Introduction
For a modal logic l, we call a modal formula ϕ complete when for every modal
formula ψ on the same propositional variables as ϕ, we can derive from ϕ in l
either the formula ψ or its negation. For different modal logics l, we examine the
following problem: given a modal formula ϕ, is it complete for l? We call this
the completeness problem for l and we examine its complexity. Our main results
show that the completeness problem has the same complexity as provability, at
least for the logics we consider.
Given Modal Logic’s wide area of applications and the importance of logical
completeness in general, we find it surprising that, to the best of our knowledge,
the completeness problem for Modal Logic has not been studied as a computa-
tional problem so far. On the other hand, the complexity of satisfiability (and
thus validity) for Modal Logic has been studied extensively — for example, see
[1–3]. We examine the completeness problem for several well-known modal log-
ics, namely the extensions of K by the axioms Factivity, Consistency, Positive
Introspection, and Negative Introspection (also known as T , D, 4, and 5, respec-
tively) — i.e. the ones between K and S5. We discover that the complexity of
provability and completeness tend to be the same: the completeness problem
This research was partly supported by the project “TheoFoMon: Theoretical Foun-
dations for Monitorability” (grant number: 163406-051) of the Icelandic Research
Fund.
c Springer International Publishing AG 2018
S. Artemov and A. Nerode (Eds.): LFCS 2018, LNCS 10703, pp. 1–21, 2018.
https://doi.org/10.1007/978-3-319-72056-2_1
2 A. Achilleos
2 Background
We present needed background on Modal Logic, its complexity, and bisimulation,
and we introduce the completeness problem. For an overview of Modal Logic and
its complexity, we refer the reader to [3,14,15].
We consider modal logics that are formed from a combination of these axioms.
Of course, not all combinations make sense: axiom D (also called the Consistency
axiom) is a special case of T (the Factivity axiom). Axiom 4 is called Positive
Introspection and 5 is called Negative Introspection. Given a logic l and axiom a,
l+a is the logic that has as axioms all the axioms of l and a. Logic D is K+D, T
is K+T , K4 = K+4, D4 = K+D+4 = D+4, S4 = K+T +4 = T+4 = K4+T ,
KD45 = D4 + 5, and S5 = S4 + 5. From now on, unless we explicitly say
otherwise, by a logic or a modal logic, we mean one of the logics we defined
above. We use l ϕ to mean that ϕ can be derived from the axioms and rules of
l; when l is clear from the context, we may drop the subscript and just write .
A Kripke model is a triple M = (W, R, V ), where W is a nonempty set of
states (or worlds), R ⊆ W × W is an accessibility relation and V is a function
that assigns to each state in W a set of propositional variables. If P is a set
of propositional variables, then for every a ∈ W , VP (a) = V (a) ∩ P . To ease
notation, when (s, t) ∈ R we usually write sRt.
Truth in a Kripke model is defined through relation |= in the following way:
M, a |= p iff p ∈ V (a), and
M, a |= ⊥ and M, a |= ;
M, a |= p iff p ∈ V (a) and M, a |= ¬p iff p ∈/ V (a);
M, a |= ϕ ∧ ψ iff both M, a |= ϕ and M, a |= ψ;
M, a |= ϕ ∨ ψ iff M, a |= ϕ or M, a |= ψ;
M, a |= ♦ϕ iff there is some b ∈ W such that aRb and M, b |= ϕ; and
M, a |= ϕ iff for all b ∈ W such that aRb it is the case that M, b |= ϕ.
The Completeness Problem for Modal Logic 5
For the remainder of this paper we only consider finite Kripke models and
frames. For a finite model M = (W, R, V ), we define |M| = |W | + |R|.
By Theorem 1, ϕ is complete for l exactly when for every ψ ∈ L(P (ϕ)), either
ψ or its negation is true at every (finite) pointed model for l that satisfies ϕ.
2.2 Bisimulation
An important notion in Modal Logic (and other areas) is that of bisimulation. Let
P be a (finite) set of propositional variables. For Kripke models M = (W, R, V )
and M = (W , R , V ), a non-empty relation R ⊆ W × W is a bisimulation
(respectively, bisimulation modulo P ) from M to M when the following condi-
tions are satisfied for all (s, s ) ∈ R:
1
According to our definition, for a finite model M = (W, R, V ) and a ∈ W , V (a)
can be infinite. However, we are mainly interested in (W, R, VP ) for finite sets of
propositions P , which justifies calling M finite.
6 A. Achilleos
We call pointed models (M, a), (M , a ) bisimilar (resp. bisimilar modulo P )
and write (M, a) ∼ (M , a ) (resp. (M, a) ∼P (M , a )) if there is a bisim-
ulation (resp. bisimulation modulo P ) R from M to M , such that aRa .
If (M, a) is a pointed model, and P a set of propositional variables, then
T hP (M, a) = {ϕ ∈ L(P ) | M, a |= ϕ}. We say that two pointed models are
equivalent and write (M, a) ≡P (M , a ) when T hP (M, a) = T hP (M , a ). The
following simplification of the Hennessy-Milner Theorem [6] gives a useful char-
acterization of pointed model equivalence; Proposition 1 is its direct consequence.
Paige and Tarjan in [16] give an efficient algorithm for checking whether two
pointed models are bisimilar. Theorem 3 is a variation on their result to account
for receiving the set P of propositional variables as part of the algorithm’s input.
their construction and conclude with Corollary 2 and from that, Lemma 1 and
Corollary 1. The remaining results in this section are consequence of these.
For a logic l + 5, we call a pointed model (M, s) for l + 5 flat when
– M = ({s} ∪ W, R, V );
– R = R1 ∪ R2 , where R1 ⊆ {s} × W and R2 is an equivalence relation on W ;
and
– if l ∈ {T,S4}, then s ∈ W .
Lemma 1 informs us that flat models are a normal form for models of logics with
axiom 5. Negative Introspection. and it is part of the construction from [2].
Proof. Let W be the set of states of M reachable from s and R the restriction of
the accessibility relation of M on W . It is easy to see that the identity relation is
a bisimulation from M to M , so (M, s) ∼ (M , s); let W = {w ∈ W | ∃w Rw}.
Therefore W = W ∪ {s} and if l ∈ {T,S4}, then s ∈ W . Since M is an l + 5-
model, R is euclidean. Therefore, the restriction of R on W is reflexive. This in
turn means that R is symmetric in W : if a, b ∈ W and aRb, since aRa, we also
have bRa. Finally, R is transitive in W : if aRbRc and a, b, c ∈ W , then bRa, so
aRc. Therefore R is an equivalence relation when restricted on W .
The construction from [1,2] continues to filter the states of the flat model,
resulting in a small model for a formula ϕ. Using this construction, Halpern
and Rêgo prove Corollary 1 [2]; the NP upper bound for l + 5-satisfiability of
Theorem 4 is a direct consequence.
Proof. If these conditions are met, we can define bisimulation R such that aRa
and for b ∈ W and b ∈ W , bRb iff VP (b) = VP (b ); on the other hand, if there
is a bisimulation, then it is not hard to see by the definition of bisimulation that
these conditions hold — for both claims, notice that the conditions above, given
the form of the models, correspond exactly to the conditions from the definition
of bisimulation.
In the following, when P is evident, we will often omit any reference to it and
instead of bisimulation modulo P , we will call the relation simply bisimulation.
Proof. When P = ∅, all models are bisimilar through the total bisimulation;
therefore, all formulas ϕ, where P (ϕ) = ∅ are trivially complete. We now consider
the case for P = ∅; notice that we can assume that l = D, as D is contained in
T. Let the modal depth of ϕ be d and let M, a |= ϕ, where M = (W, R, V ); let
x∈/ W ∗ , a0 = a, and
W = Πd ∪ {x};
R = {(α, αb) ∈ W 2 | b ∈ W } ∪ {(a0 a1 · · · ad , x) ∈ W 2 } ∪ {(x, x)}
Vi (αb) = V (b), for i = 1, 2, 0 ≤ |α| < d;
V1 (x) = ∅; and V2 (x) = P.
2
Although for the purposes of this paper we only consider a specific set of modal
logics, it is interesting to note that the corollary can be extended to a much larger
class of logics.
3
This is also a corollary of Lemma 4, as these are extensions of D and T.
The Completeness Problem for Modal Logic 11
Table 1. The complexity of the completeness problem for different modal logics. Trivial
(all) indicates that all formulas in this case are complete for the logic; trivial (none)
indicates that there is no satisfiable, complete formula for the logic.
Modal logic P =∅ P = ∅
K, K4 PSPACE-complete PSPACE-complete
D, T Trivial (all) Trivial (none)
D4, S4 Trivial (all) PSPACE-complete
K5, K45 In P coNP-complete
l + 5, l = K, K4 Trivial (all) coNP-complete
Theorem 5 applies to more than the modal logics that we have defined in
Sect. 2. For Propositional Logic, completeness amounts to the problem of deter-
mining whether a formula does not have two distinct satisfying assignments,
therefore it is coNP-complete. By similar reasoning, completeness for First-order
Logic is undecidable, as satisfiability is undecidable.
Proof (Part of Proof ). We give the proof of the theorem, but we omit certain
details. The interested reader can see [13] for a full proof. We prove that the CC
Procedure has a way to accept ϕ if and only if ϕ is satisfied in two non-bisimilar
models. By Theorem 2, the theorem follows.
We assume that there are two non-bisimilar pointed models (A, w) and (B, w ),
such that A, w |= ϕ and B, w |= ϕ. We prove that the CC Process accepts ϕ
in |ϕ| + 2 steps. We call these models the underlying models; the states of the
underlying models are called model states to distinguish them from states that
the process uses. Let A = (W A , RA , V A ) and B = (W B , RB , V B ); we can assume
that W A ∩ W B = ∅. Let f : W A × W B → W A ∪ W B be a partial function that
maps every pair (s, t) of non-bisimilar pairs to a model state c accessible from s
or t that is non-bisimilar to every state accessible from t or s, respectively. We
call f a choice-function. We can see that the procedure can maintain that the
maximal state it generates each time is satisfied in two non-bisimilar states s, t,
one from A and the other from B, respectively: at the beginning these are w
and w . At every step, the procedure can pick a child c that is satisfied in f (s, t).
If l th(a) → ♦th(c), then the procedure terminates and accepts the input.
Otherwise, c is satisfied in f (s, t) and in another state that is non-bisimilar to
f (s, t). Let that other state be called a counterpart of f (s, t).
If l = K, then at every step, the procedure can reduce the modal depth of a,
and therefore, afterat most |ϕ| steps, the procedure can simply choose P = P (ϕ)
as a state. Since ♦ P is not derivable from any consistent set of modal depth 0,
the procedure can terminate and accept the input. We now assume that l = K.
We demonstrate that if ϕ is incomplete, then the CC Procedure will accept
ϕ after a finite number of steps. As we have seen above, the procedure, given
non-bisimilar pointed models (A, a) and (B, b) of ϕ, always has a child to play
The Completeness Problem for Modal Logic 15
On the other hand, we prove that if ϕ is complete, then the CC Procedure can
never accept ϕ. For this, we use the following lemmata:
– if l has axiom 4 (l ∈ {K4, D4, S4}), then the following formula is consistent:
th(p(S)) ∧ ♦th(c).
c∈C(S)
– l th(s) → ♦th(d),
– th(d) is not equivalent to th(s), and
– d ∪ {ψ} is consistent,
Lemma 10. For a consistent view S that completes itself, for every child c ∈
C(S), if th(p(S)) is complete, then so is th(c).
By Lemma 10, all parent-states that appear during a run are complete. If at
some point, the process picks a child-state c and a is the parent-state, then by
Lemma 8, th(a) ∧ ♦th(c) is consistent; since a is complete, l th(a) → ♦th(c).
Therefore, there is no way for the procedure to accept if the input formula is
complete.
4
We note that US is different from UP; for UP, if T has an accepting path for x, then
it is guaranteed that it has a unique accepting path for x.
18 A. Achilleos
Theorem 7 (from [12]). For every modal formula ϕ of modal depth at most d,
if ϕ is consistent for K, then there is some S ⊆ FPd , so that K ϕ ↔ S.
Lemma 12. Formula ϕ is satisfiable and complete up to its depth for logic l if
md(ϕ)
and only if it is equivalent in l to a normal form from FP .
Proof. From Theorem 7, if ϕ is satisfiable, then it is equivalent to some S,
md(ϕ)
where S ⊆ FP , but if it is also complete up to its depth, then it can derive a
The Completeness Problem for Modal Logic 19
the normal form ψ ∈ S; so, l ϕ → ψ, but also l ψ → S and S is equivalent
md(ϕ)
to ϕ. For the other direction, notice that every normal form in FP is either
complete or has the same modal depth as ϕ, so by Lemma 11, if ϕ is equivalent
to a normal form, in the first case it is complete and in the second case it is
complete up to its depth.
Therefore, all modal logics have formulas that are complete up to their depth.
dfor anyfinite set of propositional variables P and d ≥ 0, we can define
In fact,
ϕdP = i=0 i P , which is equivalent in T and D to a normal form (by induc-
tion on d). Then, we can use a reduction similar to the one from the proof of
Theorem 5 to prove that for every modal logic, completeness up to depth is as
hard as provability.
Proposition 4. For any complexity class C and logic l, if l-provability is
C-hard, then completeness up to depth is C-hard.
Proof. The proof is similar to that of Theorem 5 and can be found in [13].
We demonstrate that this variation of the completeness problem is in PSPACE
when the logic is K; it seems plausible that one can follow similar approaches
that use normal forms for the remaining modal logics.
Proposition 5. A formula ϕ is complete up to its depth for K if and only if
ϕ ∧ md(ϕ)+1 ⊥ is complete for K.
Proof. Let ψ ∈ FPd be a normal form. Then, ψ ∧ d+1 ⊥ is equivalent in K to
ψ +1 ∈ FPd+1 , which is ψ after we replace all ♦ψ in ψ by ♦(ψ ∧ ⊥), where
ψ ∈ FP0 . Notice that ψ1 , ψ2 ∈ FPd are distinct normal forms if and only if
ψ1+1 , ψ2+1 are distinct normal forms in FPr for every r > d. So, ϕ is complete
up to its depth for K if and only if ϕ ∧ md(ϕ)+1 ⊥ is complete for K.