Skip to main content
Log in

What’s decidable about parametric timed automata?

  • Regular Paper
  • Published:
International Journal on Software Tools for Technology Transfer Aims and scope Submit manuscript

Abstract

Parametric timed automata (PTAs) are a powerful formalism to reason, simulate and formally verify critical real-time systems. After 25 years of research on PTAs, it is now well understood that any non-trivial problem studied is undecidable for general PTAs. We provide here a survey of decision and computation problems for PTAs. On the one hand, bounding time, bounding the number of parameters or the domain of the parameters does not (in general) lead to any decidability. On the other hand, restricting the number of clocks, the use of clocks (compared or not with the parameters), and the use of parameters (e. g., used only as upper or lower bounds) leads to decidability of some problems. We also put emphasis on open problems. We also discuss formalisms close to parametric timed automata (such as parametric hybrid automata or parametric interrupt timed automata), and we study tools dedicated to PTAs and their extensions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1

Similar content being viewed by others

Notes

  1. The names EF, AF, EG, AG were first used for PTAs in [53], and come from the CTL syntax.

  2. In general, it can be handful to set \(G= F\); but as not all definitions of PTAs in the literature have accepting locations, we use here the set \(G\) to denote goal locations.

  3. Note that EF-, AF-, EG-, and AG-emptiness are equivalent to AG-, EG-, AF-, EF-universality, respectively.

  4. This table is partially inspired by a similar table in [42], improved by adding more dimensions, and of course more recent results.

  5. https://embedded.eecs.berkeley.edu/research/hytech/.

  6. http://www.imitator.fr/static/FMTV15/.

References

  1. Aceto, L., Bouyer, P., Burgueño, A., Larsen, K.G.: The power of reachability testing for timed automata. In: Arvind, V., Ramanujam, R. (eds.) FSTTCS. LNCS, vol. 1530, pp. 245–256. Springer, New York (1998)

    Google Scholar 

  2. Alur, R., Courcoubetis, C., Dill, D.L.: Model-checking in dense real-time. Inf. Comput. 104(1), 2–34 (1993)

    Article  MathSciNet  MATH  Google Scholar 

  3. Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T.A., Ho, P.H., Nicollin, X., Olivero, A., Sifakis, J., Yovine, S.: The algorithmic analysis of hybrid systems. Theor. Comput. Sci. 138(1), 3–34 (1995)

    Article  MathSciNet  MATH  Google Scholar 

  4. Alur, R., Courcoubetis, C., Henzinger, T.A., Ho, P.H.: Hybrid automata: an algorithmic approach to the specification and verification of hybrid systems. In: Grossman, R.L., Nerode, A., Ravn, A.P., Rischel, H. (eds.) Hybrid Systems 1992. LNCS, vol. 736, pp. 209–229. Springer, New York (1993)

    Google Scholar 

  5. Alur, R., Dill, D.L.: A theory of timed automata. Theor. Comput. Sci. 126(2), 183–235 (1994)

    Article  MathSciNet  MATH  Google Scholar 

  6. Alur, R., Etessami, K., La Torre, S., Peled, D.: Parametric temporal logic for “model measuring”. ACM Trans. Comput. Logic 2(3), 388–407 (2001)

    Article  MathSciNet  MATH  Google Scholar 

  7. Alur, R., Henzinger, T.A., Vardi, M.Y.: Parametric real-time reasoning. In: STOC, pp. 592–601. ACM (1993)

  8. Alur, R., Madhusudan, P.: Decision problems for timed automata: a survey. In: Bernardo, M., Corradini, F. (eds.) Formal Methods for the Design of Real-Time Systems, International School on Formal Methods for the Design of Computer, Communication and Software Systems, SFM-RT 2004, Bertinoro, Italy, September 13–18, 2004, Revised Lectures. LNCS, vol. 3185, pp. 1–24. Springer, New York (2004)

  9. André, É.: Parametric deadlock-freeness checking timed automata. In: Sampaio, A.C.A., Wang, F. (eds.) ICTAC. LNCS, vol. 9965, pp. 469–478. Springer, New York (2016)

    Google Scholar 

  10. André, É.: What’s decidable about parametric timed automata? In: Artho, C., Ölveczky, P.C. (eds.) FTSCS. Communications in Computer and Information Science, vol. 596, pp. 1–17. Springer, New York (2016)

    Google Scholar 

  11. André, É., Chatain, T., Encrenaz, E., Fribourg, L.: An inverse method for parametric timed automata. IJFCS 20(5), 819–836 (2009)

    MathSciNet  MATH  Google Scholar 

  12. André, É., Fribourg, L., Kühne, U., Soulat, R.: IMITATOR 2.5: a tool for analyzing robustness in scheduling problems. In: Giannakopoulou, D., Méry, D. (eds.) FM. LNCS, vol. 7436, pp. 33–36. Springer, New York (2012)

    Google Scholar 

  13. André, É., Lime, D.: Liveness in L/U-parametric timed automata. In: Legay, A., Schneider, K. (eds.) ACSD, pp. 9–18. IEEE, New York (2017)

    Google Scholar 

  14. André, É., Lime, D., Markey, N.: Language preservation problems in parametric timed automata (journal version). Technical report (2016), submitted

  15. André, É., Lime, D., Roux, O.H.: Integer-complete synthesis for bounded parametric timed automata. In: Bojańczyk, M., Lasota, S., Potapov, I. (eds.) RP. LNCS, vol. 9058. Springer, New York (2015)

    Google Scholar 

  16. André, É., Lime, D., Roux, O.H.: Decision problems for parametric timed automata. In: Ogata, K., Lawford, M., Liu, S. (eds.) ICFEM (2016), to appear

  17. André, É., Lime, D., Roux, O.H.: On the expressiveness of parametric timed automata. In: Fränzle, M., Markey, N. (eds.) FORMATS (2016), to appear

  18. André, É., Lin, S.W.: Learning-based compositional parameter synthesis for event-recording automata. In: Bouajjani, A., Alexandra, S. (eds.) FORTE. LNCS, vol. 10321, pp. 17–32. Springer, New York (2017)

    Google Scholar 

  19. André, É., Liu, Y., Sun, J., Dong, J.S.: Parameter synthesis for hierarchical concurrent real-time systems. In: Perseil, I., Pouzet, M., Breitman, K. (eds.) ICECCS, pp. 253–262. IEEE Computer Society, Silver Spring (2012)

    Google Scholar 

  20. André, É., Liu, Y., Sun, J., Dong, J.S., Lin, S.W.: PSyHCoS: parameter synthesis for hierarchical concurrent real-time systems. In: Sharygina, N., Veith, H. (eds.) CAV. LNCS, vol. 8044, pp. 984–989. Springer, New York (2013)

    Google Scholar 

  21. André, É., Markey, N.: Language preservation problems in parametric timed automata. In: Sankaranarayanan, S., Vicario, E. (eds.) FORMATS. LNCS, vol. 9268, pp. 27–43. Springer, New York (2015)

    Google Scholar 

  22. André, É., Nguyen, H.G., Petrucci, L., Sun, J.: Parametric model checking timed automata under non-Zenoness assumption. In: Barrett, C., Kahsai, T. (eds.) NFM. Lecture Notes in Computer Science, vol. 10227, pp. 35–51. Springer, New York (2017)

    Google Scholar 

  23. Asarin, E., Mysore, V., Pnueli, A., Schneider, G.: Low dimensional hybrid systems—decidable, undecidable, don’t know. Inf. Comput. 211, 138–159 (2012)

    Article  MathSciNet  MATH  Google Scholar 

  24. Aştefănoaei, L., Bensalem, S., Bozga, M., Cheng, C., Ruess, H.: Compositional parameter synthesis. In: Fitzgerald, J.S., Heitmeyer, C.L., Gnesi, S., Philippou, A. (eds.) Proceedings of the 21st International Symposium on Formal Methods (FM 2016). Lecture Notes in Computer Science, vol. 9995, pp. 60–68 (2016)

  25. Bagnara, R., Hill, P.M., Zaffanella, E.: The Parma Polyhedra Library: toward a complete set of numerical abstractions for the analysis and verification of hardware and software systems. Sci. Comput. Program. 72(1–2), 3–21 (2008)

    Article  MathSciNet  Google Scholar 

  26. Beneš, N., Bezděk, P., Larsen, K.G., Srba, J.: Language emptiness of continuous-time parametric timed automata. In: Halldórsson, M.M., Iwama, K., Kobayashi, N., Speckmann, B. (eds.) ICALP, Part II. LNCS, vol. 9135, pp. 69–81. Springer, New York (2015)

    Google Scholar 

  27. Bérard, B., Cassez, F., Haddad, S., Lime, D., Roux, O.H.: Comparison of the expressiveness of timed automata and time Petri nets. In: Pettersson, P., Yi, W. (eds.) FORMATS. LNCS, vol. 3829, pp. 211–225. Springer, New York (2005)

    Google Scholar 

  28. Bérard, B., Cassez, F., Haddad, S., Lime, D., Roux, O.H.: The expressive power of time Petri nets. Theor. Comput. Sci. 474, 1–20 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  29. Bérard, B., Haddad, S., Jovanovic, A., Lime, D.: Interrupt timed automata with auxiliary clocks and parameters. Fundamenta Informormatica 143(3–4), 235–259 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  30. Bérard, B., Haddad, S., Picaronny, C., Din, M.S.E., Sassolas, M.: Polynomial interrupt timed automata. In: Bojanczyk, M., Lasota, S., Potapov, I. (eds.) RP. LNCS, vol. 9328, pp. 20–32. Springer, New York (2015)

    Google Scholar 

  31. Bérard, B., Haddad, S., Sassolas, M.: Interrupt timed automata: verification and expressiveness. Form. Methods Syst. Des. 40(1), 41–87 (2012)

    Article  MATH  Google Scholar 

  32. Bouyer, P., Markey, N., Sankur, O.: Robustness in timed automata. In: Abdulla, P.A., Potapov, I. (eds.) RP. LNCS, vol. 8169, pp. 1–18. Springer (2013), invited paper

  33. Bozzelli, L., La Torre, S.: Decision problems for lower/upper bound parametric timed automata. Form. Methods Syst. Des. 35(2), 121–151 (2009)

    Article  MATH  Google Scholar 

  34. Brihaye, T., Doyen, L., Geeraerts, G., Ouaknine, J., Raskin, J., Worrell, J.: Time-bounded reachability for monotonic hybrid automata: complexity and fixed points. In: Hung, D.V., Ogawa, M. (eds.) ATVA. LNCS, vol. 8172, pp. 55–70. Springer, New York (2013)

    Google Scholar 

  35. Brihaye, T., Michaux, C., Rivière, C., Troestler, C.: On O-minimal hybrid systems. In: Alur, R., Pappas, G.J. (eds.) HSCC. LNCS, vol. 2993, pp. 219–233. Springer, New York (2004)

    Google Scholar 

  36. Bruyère, V., Raskin, J.F.: Real-time model-checking: parameters everywhere. Log. Methods Comput. Sci. 3(1:7), 1–30 (2007)

  37. Bundala, D., Ouaknine, J.: Advances in parametric real-time reasoning. In: Csuhaj-Varjú, E., Dietzfelbinger, M., Ésik, Z. (eds.) MFCS. LNCS, vol. 8634, pp. 123–134. Springer, New York (2014)

    Google Scholar 

  38. Cassez, F., Larsen, K.G.: The impressive power of stopwatches. In: Palamidessi, C. (ed.) CONCUR. LNCS, vol. 1877, pp. 138–152. Springer, New York (2000)

    Google Scholar 

  39. Cassez, F., Roux, O.H.: Structural translation from time Petri nets to timed automata. J. Syst. Softw. 79(10), 1456–1468 (2006)

    Article  MATH  Google Scholar 

  40. Chevallier, R., Encrenaz-Tiphène, E., Fribourg, L., Xu, W.: Timed verification of the generic architecture of a memory circuit using parametric timed automata. Form. Methods Syst. Des. 34(1), 59–81 (2009)

    Article  MATH  Google Scholar 

  41. Di Giampaolo, B., La Torre, S., Napoli, M.: Parametric metric interval temporal logic. Theor. Comput. Sci. 564, 131–148 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  42. Doyen, L.: Robust parametric reachability for timed automata. Inf. Process. Lett. 102(5), 208–213 (2007)

    Article  MathSciNet  MATH  Google Scholar 

  43. Fanchon, L., Jacquemard, F.: Formal timing analysis of mixed music scores. In: International Computer Music Conference (2013)

  44. Fribourg, L., Lesens, D., Moro, P., Soulat, R.: Robustness analysis for scheduling problems using the inverse method. TIME, pp. 73–80. IEEE Computer Society Press, Silver Spring (2012)

    Google Scholar 

  45. van Glabbeek, R.J.: The linear time-branching time spectrum (extended abstract). In: Baeten, J.C.M., Klop, J.W. (eds.) CONCUR. LNCS, vol. 458, pp. 278–297. Springer, New York (1990)

    Google Scholar 

  46. Henzinger, T.A.: The theory of hybrid automata. In: Vardi, M.Y., Clarke, E.M. (eds.) LICS. pp. 278–292. IEEE Computer Society, Silver Spring (1996)

  47. Henzinger, T.A., Ho, P.H., Wong-Toi, H.: HyTech: a model checker for hybrid systems. Softw. Tools Technol. Transf. 1, 110–122 (1997)

    Article  MATH  Google Scholar 

  48. Henzinger, T.A., Kopke, P.W., Puri, A., Varaiya, P.: What’s decidable about hybrid automata? J. Comput. Syst. Sci. 57(1), 94–124 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  49. Henzinger, T.A., Kopke, P.W., Wong-Toi, H.: The expressive power of clocks. In: Fülöp, Z., Gécseg, F. (eds.) ICALP. LNCS, vol. 944, pp. 417–428. Springer, New York (1995)

    Google Scholar 

  50. Henzinger, T.A., Nicollin, X., Sifakis, J., Yovine, S.: Symbolic model checking for real-time systems. Inf. Comput. 111(2), 193–244 (1994)

    Article  MathSciNet  MATH  Google Scholar 

  51. Hoare, C.: Communicating sequential processes. Commun. ACM 21, 666–677 (1978)

    Article  MATH  Google Scholar 

  52. Hune, T., Romijn, J., Stoelinga, M., Vaandrager, F.W.: Linear parametric model checking of timed automata. JLAP 52–53, 183–220 (2002)

    MathSciNet  MATH  Google Scholar 

  53. Jovanović, A., Lime, D., Roux, O.H.: Integer parameter synthesis for timed automata. IEEE Trans. Softw. Eng. 41(5), 445–461 (2015)

    Article  MATH  Google Scholar 

  54. Jovanović, A.: Parametric verification of timed systems. Ph.D. thesis, École Centrale Nantes, France (2013)

  55. Knapik, M., Penczek, W.: Bounded model checking for parametric timed automata. ToPNoC 5, 141–159 (2012)

    MATH  Google Scholar 

  56. Koymans, R.: Specifying real-time properties with metric temporal logic. Real-Time Syst. 2(4), 255–299 (1990)

    Article  Google Scholar 

  57. Larsen, K.G., Pettersson, P., Yi, W.: UPPAAL in a nutshell. Int. J. Softw. Tools Technol. Transf. 1(1–2), 134–152 (1997)

    Article  MATH  Google Scholar 

  58. Lime, D., Roux, O.H., Seidner, C., Traonouez, L.M.: Romeo: a parametric model-checker for Petri nets with stopwatches. In: Kowalewski, S., Philippou, A. (eds.) TACAS. LNCS, vol. 5505, pp. 54–57. Springer, New York (2009)

    Google Scholar 

  59. Markey, N.: Robustness in real-time systems. In: Bate, I., Passerone, R. (eds.) SIES, pp. 28–34. IEEE Computer Society Press (2011)

  60. Merlin, P.M.: A study of the recoverability of computing systems. Ph.D. thesis, University of California, Irvine, CA, USA (1974)

  61. Miller, J.S.: Decidability and complexity results for timed automata and semi-linear hybrid automata. In: Lynch, N.A., Krogh, B.H. (eds.) HSCC. LNCS, vol. 1790, pp. 296–309. Springer, New York (2000)

    Google Scholar 

  62. Minsky, M.L.: Computation: Finite and Infinite Machines. Prentice-Hall Inc, Englewood Cliffs, NJ (1967)

    MATH  Google Scholar 

  63. Ouaknine, J., Worrell, J.: On the decidability and complexity of metric temporal logic over finite words. Log. Methods Comput. Sci. 3(1), 1–27 (2007)

  64. Ouaknine, J., Worrell, J.: Towards a theory of time-bounded verification. In: Abramsky, S., Gavoille, C., Kirchner, C., auf der Heide, F.M., Spirakis, P.G. (eds.) ICALP Part II. Lecture Notes in Computer Science, vol. 6199, pp. 22–37. Springer, New York (2010)

    Google Scholar 

  65. Quaas, K.: MTL-model checking of one-clock parametric timed automata is undecidable. In: André, É., Frehse, G. (eds.) SynCoP. EPTCS, vol. 145, pp. 5–17 Open Publishing Association, Waterloo, Australia (2014)

  66. Srba, J.: Comparing the expressiveness of timed automata and timed extensions of Petri nets. In: Cassez, F., Jard, C. (eds.) FORMATS. LNCS, vol. 5215, pp. 15–32. Springer, New York (2008)

    Google Scholar 

  67. Sun, J., Liu, Y., Dong, J.S., Liu, Y., Shi, L., André, É.: Modeling and verifying hierarchical real-time systems using stateful timed CSP. ACM Trans. Softw. Eng. Methodol. 22(1), 1–29 (2013)

    Article  Google Scholar 

  68. Sun, J., Liu, Y., Dong, J.S., Pang, J.: PAT: Towards flexible verification under fairness. In: Bouajjani, A., Maler, O. (eds.) CAV. LNCS, vol. 5643, pp. 709–714. Springer, New York (2009)

  69. Traonouez, L.M., Lime, D., Roux, O.H.: Parametric model-checking of stopwatch Petri nets. J. Univers. Comput. Sci. 15(17), 3273–3304 (2009)

    MathSciNet  MATH  Google Scholar 

Download references

Acknowledgements

This manuscript benefited from discussions with Didier Lime, Nicolas Markey, and Olivier H. Roux, as well as from the useful comments and suggestions of all three anonymous reviewers.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Étienne André.

Additional information

This work is partially supported by the ANR national research program PACS (ANR-14-CE28-0002).

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

André, É. What’s decidable about parametric timed automata?. Int J Softw Tools Technol Transfer 21, 203–219 (2019). https://doi.org/10.1007/s10009-017-0467-0

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10009-017-0467-0

Keywords

Navigation