Higher-Order Fixpoint Logic (HFL) is a modal specification language whose expressive power reaches far beyond that of Monadic Second-Order Logic, achieved through an incorporation of a typed λ-calculus into the modal μ-calculus. Its model checking problem on finite transition systems is decidable, albeit of high complexity, namely k-EXPTIME-complete for formulas that use functions of type order at most k < 0. In this paper we present a fragment with a presumably easier model checking problem. We show that so-called tail-recursive formulas of type order k can be model checked in (k − 1)-EXPSPACE, and also give matching lower bounds. This yields generic results for the complexity of bisimulation-invariant non-regular properties, as these can typically be defined in HFL.
Lazy controller synthesis for monotone transition systems and directed safety specifications
