Generalised Quantifiers Based on Rabin-Mostowski Index
Abstract
In this work we introduce new generalised quantifiers which allow us to express the Rabin-Mostowski index of automata. Our main results study expressive power and decidability of the monadic second-order (MSO) logic extended with these quantifiers. We study these problems in the realm of both -words and infinite trees. As it turns out, the pictures in these two cases are very different. In the case of -words the new quantifiers can be effectively expressed in pure MSO logic. In contrast, in the case of infinite trees, addition of these quantifiers leads to an undecidable formalism.
To realise index-quantifier elimination, we consider the extension of MSO by game quantifiers. As a tool, we provide a specific quantifier-elimination procedure for them. Moreover, we introduce a novel construction of transducers realising strategies in -regular games with monadic parameters.
Keywords and phrases:
monadic quantifiers, decidability, quantifier elimination, parity automata, game quantifier, Rabin-Mostowski indexFunding:
Denis Kuperberg: ANR ReCiProg.Copyright and License:
2012 ACM Subject Classification:
Theory of computation Automata over infinite objects ; Theory of computation Logic and verification ; Theory of computation Tree languagesEditors:
Meena Mahajan, Florin Manea, Annabelle McIver, and Nguyễn Kim ThắngSeries and Publisher:
Leibniz International Proceedings in Informatics, Schloss Dagstuhl – Leibniz-Zentrum für Informatik
1 Introduction
Monadic second-order logic (MSO) considered over -words or infinite trees sets a golden standard in the theory of verification as a robust, expressive, yet still decidable formalism. The research surrounding this logic often takes two paths.
One focuses on properties of the MSO-definable languages of -words or trees, with an emphasis on decidability issues, aiming in effective characterisations. Another path, maybe more challenging, attempts to extend the expressive power of MSO while still maintaining decidability. These two paths often interplay, an archetypal example being the study of cardinality. First, Niwiński [35] showed that the cardinality of a regular language of infinite trees can be effectively computed. Then, Bárány, Kaiser, and Rabinovich [1] (see also [20]) studied an extension of the MSO logic (over the binary tree) by cardinality quantifiers, like , stating that there are at least distinct sets satisfying . The extension turned out to admit an elimination procedure for cardinality quantifiers: the authors effectively translated MSO with cardinality quantifiers into pure MSO, rendering the considered formalism decidable [1].
In contrast, the unboundedness quantifier introduced by Bojańczyk [2], stating that the formula is satisfied by finite sets of unbounded size, leads to a proper extension of MSO. After exhaustive investigation it was shown that MSO+ is undecidable even over -words [4]. However, the unboundedness property of a given regular language is easily decidable (due to an application of the pumping lemma); a related property called diagonality was shown to be decidable even for tree languages on all levels of the Caucal hierarchy [13].
The results of Niwiński, Parys, and Skrzypczak [38] fall into a similar category: the authors show that the ranks of MSO-definable well-founded relations satisfy a certain dichotomy and can be effectively bounded, although the rank itself is not directly expressible in MSO.
A general pattern behind these situations consists of several levels. On the basic level, we wish to decide if a language of -words or trees satisfies a specific property, usually related to some difficulty: uncountability, unboundedness, ordinal rank , etc. Then we ask if the property can be generalised to a type of quantifier, and whether the extension of MSO is proper, and eventually decidable.
The study in the present paper is motivated by the Rabin-Mostowski index problem, which is a pertinent open problem in automata theory. In terms of parity automata (see below), the question is to find an equivalent automaton of a given type (deterministic, non-deterministic, or alternating) with a minimal number of priorities. For technical reasons, we also take into account the minimal priority, so that an index is defined as a pair (where can be assumed to be or ). Recall that the index hierarchy over -words is strict only for deterministic automata, and collapses to the second level for non-deterministic and alternating ones. For infinite trees, both non-deterministic and alternating hierarchies are strict [6, 34]; the deterministic hierarchy is strict as well, but less interesting because deterministic tree automata do not capture all regular tree languages. The problem of computing the index is generally decidable for automata over -words [48], and open for automata over infinite trees. Several special cases have been shown decidable, in particular if an input tree automaton is a deterministic automaton [36, 37]; a game automaton [17]; or a Büchi automaton [14, 45]. Colcombet and Löding [15] reduced the non-deterministic index problem to a question on asymptotic behaviour of counter automata; their paper brought a bunch of interesting ideas (in particular, guidability), but the original problem has remained unsolved.
In the current paper, we approach the index problem “from above”, that is, we introduce a class of quantifiers corresponding to the index property. Using the correspondence between sets (or tuples thereof) and their characteristic functions (i.e., labelled infinite words or trees), a general form of the new quantifier is
where refers to the type of involved automata (deterministic or non-deterministic), and determines the index. Such a formula holds for a valuation if there exists an automaton of type and index , such that for every the formula holds if and only if accepts . Note that in the above only varies while the ’s remain fixed, playing the role of parameters.
Our main results are twofold. First, we show that MSO+ effectively reduces to pure MSO over -words. Second, we prove that MSO+ is undecidable over infinite trees. To the best of our knowledge, this is the first negative decidability result for index-related problems over infinite trees. In fact, we establish undecidability already for the quantifier , which refers to automata that merely avoid some designated rejecting states. This stands in sharp contrast to the fact that deciding whether a regular tree language can be recognised by a safety automaton is straightforward, as it amounts to checking closedness in the standard topology on infinite trees (see, e.g., [15, 25]).
To achieve the positive part of our results, namely index-quantifier elimination over -words, we rely on a variant of Wadge games for the index hierarchy [26, 47]. These games can naturally be expressed in MSO equipped with game quantifier (see, e.g., the monograph by Moschovakis [31]). The fact that MSO+ reduces to pure MSO follows from Kaiser [19] (we provide a direct proof adapted to our setup for the sake of completeness); nevertheless, we need a stronger property, allowing us to construct finite memory strategies (relating Büchi-Landweber construction [11] with uniformisations [24, 42]). This falls in similar lines as results by Winter and Zimmermann [51] and others on sequential uniformisation and functions realised by transducers. To achieve our goal, we show a novel fact, which can be seen as a parametrised version of Büchi-Landweber construction (for the case when the variables are in some sense separated). We believe that both game quantifiers in general, and this new fact are of independent interest and applications.
One can ask if the new quantifiers of our paper align with the concept of generalised quantifiers introduced by Mostowski [32] (see [49] for a survey). The idea there is that a formula expresses the fact that the ’s satisfying (for fixed parameters ) fall into a specified family of subsets of the universe (e.g., all non-empty sets for , and the singleton of the whole universe for ). More generally, a quantifier can bind variables () and relate to a family of -ary relations. These concepts can be adapted to MSO, where in the semantics of a quantifier (or ), the universe is replaced by its powerset. The examples mentioned above, namely cardinality quantifiers and the unboundedness quantifier, can be easily presented in this way. The newly introduced index quantifiers and game quantifiers can as well be presented as generalised quantifiers. For an interested reader, we discuss this issue in more detail in Section 4.
2 Preliminaries
An alphabet is a finite non-empty set of symbols. As usual, by we denote the set of finite words over , by the set of non-empty finite words over , and by the set of -words over , that is, functions from to . The empty word is denoted and concatenation of two words , is denoted by . Given and either a finite word with at least symbols or an -word by we denote the finite word , that is, restricted to the first symbols. An -word of the form for some finite words is called ultimately periodic. The prefix order on words is denoted by , with if there exists such that .
A (full, infinite, binary) tree over an alphabet is any function ; here a word in describes a path from the root to a node , with being the left child and the right child. The label of such a node is . The set of all such trees is denoted .
We use the standard terms to navigate within a tree, in particular is a descendant of if . In an analogous way we use the terms ascendant, parent, and sibling.
Subsets , , or are called languages.
Transducers.
In this work we use (sequential, deterministic, finite-memory) transducers from one alphabet to another. Assume that , are some alphabets. A transducer from to (denoted ) is a tuple , where:
-
is a finite set of states,
-
is the initial state,
-
is the transition function.
Given an input -word we inductively define the run and the output -word taking and for all .
Given two transducers and it is easy to construct the composition of the two, namely a transducer such that for every we have .
Parity indices.
Assume that are natural numbers with . The (strong) parity index and the weak parity index are defined by the languages
An index is a pair that is either or for some with .
The typical names for indices are: Büchi for (infinitely many times priority ), co-Büchi for (finitely many times priority ), safety for (reaching priority implies that we reject), and reachability for (reaching priority implies that we accept).
Automata over -words.
A non-deterministic parity -word automaton over an alphabet and of index is a tuple , where:
-
is a finite set of states,
-
is the set of initial states,
-
is the transition relation,
and moreover the automaton is complete111This technical assumption plays a role when considering weak indices of automata. in the sense that for every and there is at least one transition of the form .
A run of an automaton over an input -word producing output -word is a sequence of states such that and for every we have . The -word is accepted by if there exists a run of over producing an -word that belongs to .
The language of such an automaton, denoted , is the set of -words that are accepted by . A language is -regular if it is the language of some automaton.
An automaton is deterministic if is a singleton and the transition relation is in fact a function , in which case there is a unique run of over every input -word .
Remark 2.1.
If the index is fixed, then deterministic automata over and of index are in natural bijection with transducers in such a way that .
Ramsey theorem.
Let be a finite set of colours. An edge labelling of a set is a function that to each edge (where ) assigns a colour from . Given an edge labelling, we say that a set is monochromatic if all edges have the same colour.
Theorem 2.2 (Ramsey).
Let be a finite set and let . Then, there exists a computable constant such that for every edge labelling of by colours from there exists a monochromatic set of size .
Moreover, for every edge labelling of by colours from there exists an infinite monochromatic set .
Semigroups and monoids.
An algebraic structure with an associative binary operation is called a semigroup. A monoid is a semigroup which contains a neutral element such that for every . Every semigroup can be extended into a monoid by adding a formal neutral element with product defined appropriately. An idempotent is an element such that .
The following fact is a standard application of Ramsey theorem (cf. Theorem 2.2).
Fact 2.3.
For every finite semigroup there exists a computable constant such that for every word there exists a pair of positions such that is an idempotent.
In particular, putting we have
Wilke algebras.
In this work we use Wilke algebras as representations of -semigroups, as in Perrin and Pin [39]. A Wilke algebra consists of two sets , two product operations
| and |
denoted for operands , and an operation denoted for an operand . Moreover, the operations are required to satisfy natural associativity axioms, in particular needs to be a semigroup. Each finite Wilke algebra uniquely determines the infinite product operation , which is associative. In particular and .
A homomorphism between two Wilke algebras and is a pair of functions and that commute with all the operations of the algebras and with the infinite product .
Recognition.
A canonical example of a Wilke algebra is , where is an alphabet. The operations of this Wilke algebra are the concatenation , the infinite repetition for , and the infinite product for .
Associativity properties imply that if is a homomorphism into a finite Wilke algebra then for every sequence of finite words we have
| (2.1) |
Note that if a Wilke algebra is finite then it can be represented as an input to an algorithm by providing its list of elements and “multiplication tables” for all the operations. The crucial fact about Wilke algebras is their ability to recognise -regular languages, as stated by the following theorem.
Theorem 2.4 ([50]).
Given a tuple of -regular languages with for all , one can effectively compute a finite Wilke algebra together with a homomorphism and a tuple of sets , where for every the set is such that . We say that recognises with .
Moreover, one can require to be onto in the sense that and .
Let (recall that is extended with a formal neutral element ). We say that is saturated if it contains infinitely many symbols from , that is, symbols different than . In this case is well-defined: we can erase all symbols from obtaining an -word and put . This definition again satisfies the associativity properties as in Formula 2.1.
Lookahead and composition.
Assume that is a homomorphism into a finite Wilke algebra . For every this homomorphism defines the lookahead defined for each position as
Note that, while producing a letter on a position , a transducer uses letters on positions . On the other hand, a lookahead at position depends on positions To create an output -word whose output letters in depend on both the past and the future of input -words, we consider transducers whose output letters are functions , and then we apply these functions to letters in produced by a lookahead.
To simplify the notation, we use the following shorthand: if and , then is defined for each position as .
Automata over infinite trees.
A non-deterministic parity tree automaton over an alphabet and of index is a tuple , where is a finite set of states, a set of initial states, and a transition relation. Again we require the automaton to be complete, that is, for every and it needs to contain at least one transition .
A run of over a tree producing an output tree is a tree such that and for all nodes . A tree is accepted by if there exists a run of over producing a tree such that for every branch , the sequence belongs to . The language of an automaton is the set of trees which it accepts. A language is a regular tree language if it is the language of some automaton .
A tree automaton is (top-down) deterministic if is a singleton and is a function.
Monadic second-order logic.
Formulae of the MSO logic are evaluated in an appropriate structure, which in our case is with the successor relation (in the case of -words) or with the left-child and right-child relations (in the case of trees). Elements of the structure are called positions or nodes. Usually, a monadic variable in MSO represents a set of positions, which can be also seen as a word or a tree over the alphabet , with indicating positions that are in the set. In this paper, we employ a seemingly more general setting, where each monadic variable represents a word or a tree over some alphabet , possibly larger than . In the sequel, we usually assume a fixed alphabet associated to each variable , but sometimes we explicitly specify the alphabet next to a quantifier (writing e.g., ). Then, for a letter and for a first-order variable we have an atomic formula checking whether the letter of at the position is . This way of seeing monadic variables does not increase the expressive power of MSO, since a variable with values in can be represented by a tuple of usual set variables, which should be forced to partition the domain (even set variables suffice).
By equivalence between MSO and regular languages [10, 28, 40], we know that for every MSO formula we can construct a deterministic parity -word automaton (in the case of -words) or a non-deterministic parity tree automaton (in the case of trees) over the alphabet which accepts exactly those -words / trees over this alphabet for which holds, where each is obtained from by projecting labels of all positions to their -th coordinate. Note that the index of the constructed automaton depends on the formula and in general cannot be bounded [5, 34, 48].
To simplify the notation, we identify a structure over such a product alphabet with the tuple of structures over respective alphabets. In particular, for a formula we can speak about the language of a formula which is defined as the set of structures over that satisfy . Due to the ability of translating formulae into automata, these languages are always regular.
Games.
We use the general framework of perfect information games of infinite duration played between two players (typically called Player and Player ). Such a game is given by a tuple where is an alphabet, is a winning condition, is a (possibly infinite) set of positions, partitioned into the positions of the respective players, is an initial position, and is an edge relation (again satisfying completeness property that each admits at least one edge ). The letter is called the label of an edge .
A play of such a game is played in rounds, with the initial position . In round number the player such that chooses an edge moving to the next position . After an infinite play, Player wins if and only if belongs to . Classical theorems [27] imply that if is sufficiently simple, then one of the players can ensure to win this game, that is, has a winning strategy. In general such a strategy for a player is a tree-shaped object but we mostly work with positional strategies, that is, functions such that for every we have for some and .
A parity game of index is a game as above where and .
3 New quantifiers
In this section we introduce the two types of quantifiers which are studied in this work. When doing so, we follow the convention to assume that in a formula all the parameter variables are combined into a single free variable over a product alphabet, as explained above. Thus, we focus on formulae of the form , even if the respective coordinates of come from different outer quantifiers.
Index quantifiers.
Consider a new quantifier where determines the type of involved automata and is an index (either a strong parity index or a weak parity index ). Such a formula holds for a parameter if there exists an automaton of index , which is either deterministic () or non-deterministic (), such that for every the formula holds if and only if accepts .
Note that the parameter occurs in the above definition in two roles. First, the automaton may depend on the parameter . Second, the automaton, when verifying whether the given makes true, has access not only to but also to the parameter (in particular, the automaton is over the alphabet ).
Remark 3.1.
One may ask what changes if we consider another semantics of the index quantifier, where the hypothetical automaton does not have access to the parameters but only reads the quantified -word . In this case the formalism becomes immediately undecidable. Indeed, consider the simplest possible formula , which involves the deterministic safety index quantifier. Then, for a given the set of -words that satisfy is . This language is recognised by a deterministic safety automaton if and only if is ultimately periodic. Due to Bojańczyk et al. [3], this extended logic is undecidable.
Note that both deterministic and non-deterministic index quantifiers make sense for both -words and trees. Let MSO+ denote the extension of monadic second-order logic by index quantifiers.
Game quantifiers.
As a natural way to study the index quantifier, we need to formalise within MSO the concept of the game quantifier (see [22, § 20.D] and [7, 8, 18, 21, 29, 31]). This quantifier, written (alternatively, in some papers the symbol is used), binds two monadic variables and . A formula
holds, given a parameter , if Player has a winning strategy in the game , defined as follows.222Classically, in the works of Moschovakis and Kechris [22, 31] the “game quantifier” requires Player to win the game, however in automata-theoretic context (e.g., the Church synthesis problem [11, 41]) or Wadge games [47], it is more customary to focus on Player . The game consists of infinitely many rounds. In a round , Player proposes a letter and Player answers with a letter . At the end, Player wins if and only if holds for and . This game can easily be represented by a formal game with positions and and given by ; however we do not need to study the exact structure of this game.
Typically, one applies the game quantifiers in the context where the involved games are determined, although the definition makes sense even without this assumption.
Let MSO+ denote the extension of monadic second-order logic by game quantifiers. Note that as it is defined, the game quantifier makes sense only for -words, because the shape of the time-structure of a game of infinite duration is .
4 Generalised quantifiers
In this section we relate the quantifiers introduced in this paper to the general concept of generalised quantifiers. They were proposed by Mostowski [32] as an abstract logical construct that generalises the classical quantifiers and . Since then, they became an important tool in various applications of logic (see, e.g., [49] for a survey).
At the syntactic level, a quantifier extends the language by a construction , for an arbitrary formula . Here, a variable is bound by , whereas the variables in remain free. At the semantic level, the quantifier is associated with an operator, which, for any structure (with universe ) defines a family of sets . Then, given a valuation , the formula holds in if the set belongs to . In this setting, is the family of all non-empty subsets of , whereas . As a less standard example, one can express the property that the cardinality of the set of ’s satisfying belongs to some specified class of cardinals (i.e., says that the set is infinite), or that the set of ’s that do satisfy and those that do not, have the same cardinality. It is usually assumed that the family is invariant under permutations of , but a weakening of this requirement is sometimes justified.
More generally, one can consider -ary quantifiers, where a quantifier bounds simultaneously variables and, respectively, is a family of -ary relations over . For example, if and is the class of rectangles, that is, then expresses the fact that whenever and hold in then and hold as well.
One can adapt the above concepts to monadic second-order logic (MSO), with in the unary case, and in general . Indeed, several generalised quantifiers of this kind have been considered in the literature, the eminent example being the weak quantifiers, that is, the quantifiers and restricted to finite sets. The cardinality quantifiers and unboundedness quantifiers mentioned in the introduction can also be presented in this framework.
Game quantifiers.
We begin by discussing how game quantifiers introduced above can be viewed as generalised MSO quantifiers over the structure . To explain the idea, let us first take a simple example in first-order logic. Consider a formula
Clearly, its meaning in a structure can be viewed as a game of two players, say and , consisting of rounds. Now the block of quantifiers can be replaced by a single -ary quantifier, so that the formula becomes . The semantics of is specified by a property that a -ary relation in should possess. In terms of a game, in which Players and select in alternation elements of , Player should have a strategy to force the selected quadruple into .
Now consider a formula interpreted in the structure , where , , are set variables (more generally, they could be some tuples of set variables). Consider an infinite game, in which Players and select in alternation bits in , so that the result is an infinite sequence
The sequences and constitute characteristic functions of some subsets and of , respectively. Now, for a valuation , a formula defined with the game quantifier
holds if Player has a strategy to force that the formula holds in . The game quantifier can be defined as a binary generalised MSO quantifier. Its semantics is defined by a family of binary relations over that comprises all relations , such that in the game described above, Player has a strategy to force the resulting pair into . Then, indeed, the formula holds precisely when the relation belongs to .
Index quantifiers.
To present our new index quantifier as a generalised MSO quantifier, let us, for concreteness, focus on the MSO theory of the full binary tree, whose domain is . As we have assumed that our automaton reads the values of both and , the construction does not fit into the unary case, but, like the game quantifier, it can be expressed as a binary quantifier, or more generally, -ary quantifier (if is a -vector and an -vector).
For simplicity, let us consider ; an extension to higher , is straightforward. The key point is to choose a class of binary relations over that would serve as the intended semantics of the quantifier. For a binary relation , and a set , we define the cut of by as the binary relation
Recall that in our quantifier we are interested in automata of type and index . A pair of sets is accepted by an automaton (over the alphabet ) if so is its characteristic function, and a relation is recognised by an automaton if it consists precisely of pairs that the automaton accepts. Now consider the class of relations
Then it is straightforward to see that the formula is equivalent to
where the semantics of the quantifier over trees is given by the class .
Clearly, the variable above plays only a technical role; therefore, for clarity of notation, in our paper we use the notation , without .
Let us also remark that our proposal is not the only possible approach. One could also consider a unary quantifier , where a formula holds for a valuation if the language of all sets such that holds is accepted by an automaton (of appropriate kind), without reading the parameter , as discussed in Remark 3.1. That is, the semantics is given simply by a class of all languages accepted by automata of type and index .
While this may appear quite natural, we believe that such an extension would be less interesting. Not only it brings an undecidable formalism over -words as indicated in Remark 3.1 but it additionally restricts available correlation between the involved variables. Indeed, if such a formula is satisfied by some which is not regular, then it follows from general properties of MSO (namely Regular Tree Theorem) that there is a regular , such that the languages and coincide. Thus the relation defined by the formula , in some sense, necessarily weakly correlates its arguments. These issues require further investigation.
5 Game quantifiers over -words
The first part of our results concerns the game quantifier . We start by showing that the extended formalism of MSO+ can be reduced back to pure MSO, that is, the game quantifiers can be eliminated. However, our goal is to obtain a stronger property, stated in Theorem 5.12: under appropriate assumptions on the formula, games described by quantifiers admit strategies that can be realised by finite-memory transducers.
Consider an instance of a game quantifier , where the internal formula is in MSO.
Lemma 5.1 (Folklore).
For every formula of the form , where is in MSO, one can effectively construct an equivalent formula of pure MSO.
This construction can be found in a work by Kaiser [19]. We include a proof for the sake of completeness. The concepts introduced in this proof will be useful later on in the paper.
Proof.
Let be a deterministic parity automaton over the alphabet of a strong parity index that is equivalent to , that is, the automaton accepts an -word if and only if holds.
Given an -word , we can consider a parity game obtained as a product of with the automaton , defined as follows.
Definition 5.2.
Let be the set of states of , and its transition function. The set of positions of is then given by and . From a position first Player proposes and the game moves to the position . Then Player proposes and the game moves to the position where . The label of the former edge equals the lowest priority (i.e., is irrelevant), while the label of the latter edge equals .
It is easy to see that is equivalent to in the sense that a player wins one game if and only if she wins another: the automaton is deterministic, so there is a one-to-one correspondence between choices in and choices in , so that strategies from one game can be directly transferred to the other game. Moreover, due to positional determinacy of parity games (see Theorem 2.5), Player wins if and only if Player has a positional winning strategy in .
A positional strategy of Player in can be represented by an -word , where is the set of states of : in this -word, the letter satisfies where with . The following claim is straightforward, as MSO allows us to quantify over infinite plays in and can express the parity condition .
Claim 5.3.
There exists an MSO formula such that holds for and if and only if encodes a positional winning strategy of Player in .
It follows that the formula is equivalent to
where the set is finite and therefore one can treat it as an alphabet. Consequently, this formula belongs to pure MSO.
Using the above lemma to inductively eliminate an innermost game quantifier, we immediately obtain the following corollary.
Corollary 5.4.
The expressive power of MSO+ is equal to that of MSO. Moreover, there exists an effective procedure that eliminates the game quantifiers.
Remark 5.5.
Consider formulae without the parameter , that is, , where is in MSO. In this case the game can be played over the arena instead of . Thus, it is a finite parity game, which can be solved directly. The resulting strategy takes the shape of a transducer (its set of states is just ) such that for every we have .
The above remark can be seen as a modern version of a proof of the Büchi-Landweber theorem [11], based on determinacy of parity games. This means that the proposed procedure of elimination of a game quantifier can be seen as a parametrised version of the construction of Büchi and Landweber, where we search for a strategy that may depend on the parameter .
5.1 Sequential strategies
One may ask if it is possible to recover some version of Remark 5.5 in the presence of external parameters , namely represent the strategy as a transducer. Of course the exact strategy may depend on the global properties of , so one cannot expect to have a single transducer that would realise the strategy. However, what happens if we allow the transducer to depend on a given -word ?
Question 5.6.
Assume that for some parameter a formula holds. Does it mean that there exists a transducer that realises a winning strategy of Player in ? In other words, we ask if we can ensure that
| for every we have . | (5.1) |
It turns out that the answer is negative – the strategies used by Player may not be made finite-memory, even if is known in advance. Intuitively, this boils down to the fact that may not be ultimately periodic, while may require some position-to-position correspondence between and . More precisely, we have the following fact.
Fact 5.7.
There exists a formula in MSO such that for some concrete -word we have while no transducer satisfies Formula 5.1.
Proof.
Let and let for and say that for every we have . Notice that for all we have because plays no role in and it is enough for Player to play consecutive values , , and so on.
Let be defined as . It remains to show that no transducer satisfies Formula 5.1. Assume to the contrary that is such a transducer with a set of states and a transition function . Fix any letter , and consider the unique run of over the -word defined above and over . Take any , and concentrate on the fragment of this run reading the infix of . The transducer should produce ’s while reading the first zeroes of the input fragment (because the next input letter is ), and over the last zero (because the next input letter is ). Let be the states of visited over this fragment, with before the first , and after the last . By the pigeonhole principle, we have for some , with . For we have , which applied to consecutive positions after and implies , where . But then . In other words, the transducer has no way of counting where to produce a , if the number of zeroes exceeds the number of its states.
This negative answer can be explained from two perspectives. One, directly suggested by the above example, focuses on the need of a lookahead – if was able to perform some lookahead to the future of the parameter word , then it could easily realise the respective strategy. This observation is formalised in Lemma 5.9, where the lookahead is allowed. This approach follows similar lines as the results of Winter and Zimmermann [51], where the authors study games with lookahead.
Another point of view is that in contrast to the construction by Büchi and Landweber [11] (see also [9]), the arena of is infinite. Thus, some subtle synchronisation between the variables may go on indefinitely. To avoid this problem, we consider the notion of a formula that depends separately on one variable (see Section 5.4). It turns out that in this case the infiniteness of the arena stops being a problem and the strategies can again be realised by transducers, as stated in Theorem 5.12.
5.2 Uniformisation by transducers with lookahead
Before we move on, we need to first show how uniformised relations can be realised by transducers with lookahead. We say that an MSO formula is uniformised if for every there exists at most one such that holds. The next fact states that a partial function described by a uniformised MSO-formula can be realised by a transducer composed with a lookahead. This fact is rather general and almost folklore; it relies on the composition method for MSO [43] (expressed by Wilke algebras in our setup).
Fact 5.8.
Assume that is uniformised. Then, one can effectively construct a homomorphism onto a finite Wilke algebra together with a transducer such that for every for which holds we have
In other words, for an input -word and we consider and defined for , and claim that holds.
Proof.
For let denote the -word having at the position , and zeroes everywhere else. For each consider a formula such that, assuming , we have if the letter at position of the unique such that holds equals ; such a formula can be easily constructed out of .
Apply Theorem 2.4 to the tuple of languages defined by formulae to obtain a homomorphism onto a finite Wilke algebra together with a tuple of sets such that holds if and only if .
Let be the homomorphism adding on the second coordinate of all letters in a given word. Then as we take .
Next, we construct the transducer . It remembers the value under of the prefix read so far. To this end, its set of states is the monoid obtained from by adding a formal neutral element . The initial state is . For and let
where is defined for every as follows: is any fixed letter such that , or just any element of if for all (morally, one should think that there is a unique such ; however strictly speaking this needs not to be true, which is caused by words for which does not hold).
Fix now an input -word such that holds. After reading a prefix , the state of is (or just if ). It follows that the -th letter of is a letter that satisfies
This is the case precisely when holds, and because is uniformised, this holds for precisely one , which is the letter at position in the unique such that holds. We thus obtain that holds, as required.
5.3 Allow lookahead
Using Fact 5.8 we now show that a winning strategy of Player for a game quantifier can be realised by a transducer composed with a lookahead.
Lemma 5.9.
Given a formula , one can effectively construct a homomorphism onto a finite Wilke algebra together with a transducer such that for every -word satisfying , and for every we have
In other words, if for every as we take the output letter produced by after reading the prefixes of and of (so that ), and we consider and , then holds. Intuitively, the above lemma says that one can construct the resulting -word by a transducer, assuming that we allow a lookahead over the whole -word (note that there is no lookahead over : moves of Player cannot be allowed to depend on future moves of Player ).
This lemma is essentially a composition of Fact 5.8 with the following lemma. The only technical difficulty lies in the fact that the lookahead is given after the transducer has read the whole input -word.
Lemma 5.10 ([24, 42, 44]).
For every MSO formula one can construct a uniformised formula such that
-
for all -words we have , and
-
for all -words , we have .
It may be worth mentioning that the original proof of the above lemma as given by Lifsches and Shelah [24, Theorem 6.3] says “By [1].”, where “[1]” is the work of Büchi and Landweber on synthesis [11]. This is incorrect, because Büchi and Landweber show how to win games using finite-state strategies, while a uniformisation may in general depend on the future. More precisely, it is always possible to uniformise a formula even if does not hold (imagine saying that the first letter of is if and only if infinitely many letters of are ). However, the mistake made by Lifsches and Shelah may not be a coincidence: Lemma 5.9 shows that uniformisation is indeed possible using transducers with lookahead, while Theorem 5.12 proved later shows how to eliminate the lookahead when depends separately on the involved variable (see Definition 5.11).
5.4 Separate coordinates
Fact 5.7 tells us that in general the lookahead in Lemma 5.9 is necessary when we want to realise a winning strategy by a transducer. The example from Fact 5.7 needed a lookahead only to check the letter on the next position of the parameter . One can imagine another example: in order to win, Player should output that equals the first letter in among (skipping all letters before it). Here the future interval checked by the lookahead needs to be unbounded, but still finite. On the other hand, the lookahead never needs to check “the whole infinite future” of , since is known in advance. To see the intuitions for this, assume that the value of needed to win depends on whether letter belongs to the set . Here a winning strategy seems to depend on the whole future of , but since we know in advance, we may avoid this: either contains infinitely many (and then there is always some in the future), or the last occurs on some position (and then the transducer may count to the fixed number ). This suggests that it should be possible to create a transducer which does not use a lookahead, but produces letters of with some delay, needed to check future properties of (formally, this is impossible to realise, because there is also an issue of synchronisation between and ).
The main result of this section states that we may avoid the aforementioned need for a lookahead (or a delay) once we disallow to enforce any position-to-position correspondence between and . More precisely, we introduce the following definition.
Definition 5.11.
We say that a formula depends separately on if it is a finite Boolean combination of formulae and formulae .
Theorem 5.12.
Assume that depends separately on and that is such that holds. Then, there exists a transducer such that Formula 5.1 holds, that is, for every we have .
It is worth mentioning that if is a Boolean combination of formulae and formulae then one can still recover the example from Fact 5.7 by writing that either or for all , which is of the required shape and still no transducer can realise the strategy.
Since each transducer induces a strategy, Theorem 5.12 in fact provides an equivalence.
Corollary 5.13.
Take that depends separately on and any . Then holds if and only if there exists a transducer such that for every we have .
Proof of Theorem 5.12 (sketch).
We begin by applying Lemma 5.9 to construct a transducer which constructs the desired winning strategy. The transducer uses lookahead given by a homomorphism into some finite Wilke algebra . We fix the parameter and apply Ramsey’s theorem (cf. Theorem 2.2) to split the word into a finite prefix and then infinitely many subwords whose image under is the same idempotent . In all the split points the transducer can be sure that the lookahead (i.e., the value of the suffix under ) is . But how can the transducer detect the split points? The first one can be hardcoded in the transducer. Then, knowing some split point, the transducer has to find a next one. A brave conjecture would be that every subword evaluating to moves us from one splitting point to a next one; but this is false (maybe we should split after a different subword evaluating to ). However, a slightly stronger condition is sufficient: if the transducer encounters two consecutive subwords evaluating to , then it can be sure that the position after the first of them can be chosen (that is, the suffix after this position can be split into infinitely many subwords evaluating to ). We remark that a similar technical trick occurs in a work of Thomas [46].
These infinitely many splitting points detected by the transducer (with some delay) are positions where we know the value of the lookahead, and thus we can produce at those points the fragments of an actual output -word . Since these positions are scattered in an arbitrary way, we need to be able to pad the output in-between these positions. This is where the assumption of separate dependency on comes into play: the satisfaction of depends separately on and on for an appropriately chosen homomorphism onto another finite Wilke algebra . Now, using some standard techniques involving idempotents, we can ensure that we pad the output -word in such a way that there are no delays in its generation (i.e., we really produce some letter from in each step), while still we control the final value of , making sure that holds.
6 Index quantifiers over -words
We now use the previous results to show quantifier elimination procedure for index quantifiers.
Theorem 6.1.
The logic MSO+ effectively reduces to the pure MSO over -words.
First, one can observe that the non-deterministic index quantifiers are either trivial or equivalent to the deterministic ones , with an appropriate change of indices. More precisely, the following equivalences hold:
-
is equivalent to whenever is either or , because automata of these indices accept all -words.
-
is equivalent to whenever is either or , because automata of these indices recognise empty languages.
-
is always true, because non-deterministic Büchi automata recognise all regular languages of -words [10]. The same holds for with and .
-
is equivalent to , because non-deterministic co-Büchi automata have the same expressive power as deterministic co-Büchi automata [30].
-
is equivalent to whenever is either (safety), (reachability), or , again because of the ability to determinise these automata without change of index (simple powerset-like constructions suffice).
-
is equivalent to , because non-deterministic automata have the same expressive power as deterministic co-Büchi automata. The same holds for all with and .
This covers all cases, because we can always shift the indices so that .
Thus, for the rest of this section we focus on the deterministic index quantifiers . Similarly as in Corollary 5.4 we proceed inductively, that is, we eliminate index quantifiers starting from inside. Let be an index (either , or for ). Consider a formula with in MSO. Our goal is to construct a formula of pure MSO that is equivalent to . As in the previous section, we consider here only the case of a single parameter (which can encode multiple parameters using a product alphabet).
Consider which, for , , and , says that if and only if holds. Note that depends separately on the variable .
Lemma 6.2.
The formulae and are equivalent.
Note that this lemma concludes the proof of Theorem 6.1 because the game quantifier involved in the latter formula can be effectively eliminated due to Lemma 5.1.
Proof.
Take any parameter . The following conditions are equivalent:
-
holds;
-
there exists a deterministic automaton of index such that for every -word we have if and only if ;
-
there exists a transducer such that for every -word we have if and only if ;
-
holds.
The first two items are equivalent from the definition of the index quantifier. The second two items are equivalent due to Remark 2.1. The last two items are equivalent by the choice of and Corollary 5.13.
7 Index quantifiers over trees
In this section we prove the following theorem.
Theorem 7.1.
The theory of MSO+ over trees is undecidable. This holds even if we allow only the simplest possible index, namely the weak parity index (i.e., safety), and any type of determinism , thus we use only the index quantifier .
To simplify the notations, in this section we consider only variables over the alphabet ; thus their valuations can be seen as sets, rather than functions from tree nodes to . Thus, we can write , , etc.
A set of tree nodes is called an interval if it is of the form for some topmost node (denoted ), bottommost node , and some length (denoted ). Two intervals , are independent if their topmost nodes , are such that and (i.e., none of them is a descendant of the other). A union of independent intervals is a set that can be written as , where are pairwise independent intervals. Note that the decomposition of such into intervals is unique. Moreover, it can be accessed in MSO (we can write in MSO things like “ is one of the intervals in ”, etc.).
The crucial technical contribution is the following lemma.
Lemma 7.2.
In MSO+ and in MSO+ over trees one can write a formula such that for each union of independent intervals , the intervals in have lengths bounded by some if and only if holds.
Proof (sketch).
As we take
where is either or (i.e., the index quantifier is either for deterministic or non-deterministic automata – both will work). The formula , given a set , expresses that for every choice of subsets there is a safety automaton that checks whether a given subset of contains only points with a descendant in .
Note that the subformula does not depend on so a hypothetical safety automaton does not have access to , even though the variable is formally available in the scope of the subformula (one may ensure that is not visible inside by artificially overshadowing the variable by another quantifier in front of ).
Suppose first that the intervals in some set have lengths bounded by some , and take any . The only elements of that can be descendants of elements of are elements of the same interval, hence they are located at most levels below. Thus the property in question is recognised by the following deterministic safety automaton: after every element of (check if it belongs to and) wait for levels on the branch going only right; if no element of was found, reject. This shows that holds (no matter whether we used or in its definition). Note that the size of the constructed automaton depends on .
Suppose now that intervals in have unbounded lengths. We want to prove that does not hold. As we choose the topmost points of all intervals in . The set contains the bottommost points of carefully chosen intervals from . Among other properties, the chosen intervals need to have growing lengths. First of all, the whole construction is done in a diagonal way, because the hypothetical safety automaton is not known in advance, so we iterate over all such automata, ensuring that each of them is not a good witness for to hold.
For a fixed automaton , if the lengths of the intervals are unbounded, then some interval exceeds the counting capacity of the automaton . Thus, some interval whose bottommost point belongs to needs to be sufficiently long, so that the automaton admits a pumping pattern with two repeating states along the interval. This allows to repeat the pattern indefinitely (i.e., pump), which effectively removes the node from , making the formula false, while the hypothetical automaton still accepts . However, we are not allowed to change the parameter set , so the actual pumping needs to be performed on another part of , which requires to apply a Ramsey-like argument allowing us to shift the pumping place outside the considered set (this vaguely resembles the pumping scheme from Carayol and Löding [12]).
Once we know that boundedness of sets of independent intervals is expressible in MSO+, it remains to adjust the technical construction from Bojańczyk et al. [4] to express runs of Minsky machines in terms of boundedness of sets of intervals. This is a rather standard adjustment.
8 Conclusions
Our motivation in this work was to introduce and study index quantifiers , which try to incorporate the index problem into the syntax of the logic. From that perspective, an important message stems from Theorem 7.1 stating that the logic MSO+ is undecidable over trees, even in the simplest form of the quantifier, namely deterministic safety index quantifier. The problem whether a regular tree language can be recognised by an automaton of index amounts to the satisfaction of a formula , in which the index quantifier is used only once and no parameters are allowed. While this fragment can still be decidable, Theorem 7.1 shows that the frontier is close, and this is (to our knowledge) the first undecidability result related to the index problem.
On the other hand, our study of index quantifiers over -words provides a more optimistic view. We have introduced an effective index-quantifier elimination procedure, thus reducing MSO+ into pure MSO. Although the usefulness of index quantifiers in the realm of verification and model-checking is questionable, our approach provides a new and generic game-based way of proving that the index problem over -words is decidable [48]. This follows similar lines to Löding [26]. We believe that the most important consequence of this aspect of our study was a thorough analysis of game quantifiers – our proof of quantifier elimination for goes through a translation to and then elimination of those.
Game quantifiers have been known and studied since 70s, however their applications were mostly limited to descriptive set theory. In a way similar to Kaiser [19], we explicitly introduce the notion of game quantifiers and study the expressive power of MSO+ . The quantifier-elimination procedure for is quite direct and resembles a parametrised version of the construction of Büchi and Landweber (see Remark 5.5). In contrast to index quantifiers, we believe that a direct use of game quantifiers in MSO may be quite useful when expressing certain game-related properties.
For the sake of applying our quantifier-elimination procedure to index quantifiers, we needed to develop a theory of transducers realising winning strategies in parametrised -regular games. To achieve it, we show a novel and apparently quite strong result (see Theorem 5.12) stating that if the involved variables are in some sense separate, then whenever a game quantifier holds, the existence of a respective strategy can be witnessed by a finite-memory transducer.
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