“Sometimes” and “not never” revisited: on branching versus linear time temporal logic
Journal of the ACM (JACM) - The MIT Press scientific computation series
Automatic verification of finite-state concurrent systems using temporal logic specifications
ACM Transactions on Programming Languages and Systems (TOPLAS)
Executing temporal logic programs
Executing temporal logic programs
Safety analysis of timing properties in real-time systems
IEEE Transactions on Software Engineering - Special issue on reliability and safety in real-time process control
Current trends in concurrency. Overviews and tutorials
An introduction to mathematical logic and type theory: to truth through proof
An introduction to mathematical logic and type theory: to truth through proof
Temporal logic for real time systems
Temporal logic for real time systems
Real-time interval logic for reasoning about executions of real-time programs
TAV3 Proceedings of the ACM SIGSOFT '89 third symposium on Software testing, analysis, and verification
TRIO: A logic language for executable specifications of real-time systems
Journal of Systems and Software - On the role of language in programming
METATEM: a framework for programming in temporal logic
REX workshop Proceedings on Stepwise refinement of distributed systems: models, formalisms, correctness
A hierarchy of temporal properties (invited paper, 1989)
PODC '90 Proceedings of the ninth annual ACM symposium on Principles of distributed computing
What is predictability for real-time systems?
Real-Time Systems
Specifying real-time properties with metric temporal logic
Real-Time Systems
Validating real-time systems by history-checking TRIO specifications
ICSE '92 Proceedings of the 14th international conference on Software engineering
Formal methods for the specification and design of real-time safety critical systems
Journal of Systems and Software
The evolution and state-of-the-art of real-time languages
Journal of Systems and Software
Temporal logic and applications: a tutorial
Computer Networks and ISDN Systems - Special issue on protocol specification, testing and verification
Mathematical logic for computer science
Mathematical logic for computer science
Distributed real-time system specification and verification in APTL
ACM Transactions on Software Engineering and Methodology (TOSEM)
VDM++: a formal specification language for object-oriented designs
TOOLS 7 Proceedings of the seventh international conference on Technology of object-oriented languages and systems
Handbook of logic in computer science (vol. 1): background: mathematical structures
Handbook of logic in computer science (vol. 1): background: mathematical structures
Object-oriented specification case studies
Object-oriented specification case studies
A graphical interval logic for specifying concurrent systems
ACM Transactions on Software Engineering and Methodology (TOSEM)
A survey on temporal reasoning in artificial intelligence
AI Communications
Validating real-time systems by history-checking TRIO specifications
ACM Transactions on Software Engineering and Methodology (TOSEM)
Tools for specifying real-time systems
Real-Time Systems - Special issue: history of real-time systems
A graphical environment for the design of concurrent real-time systems
ACM Transactions on Software Engineering and Methodology (TOSEM)
The imperative future: principles of executable temporal logic
The imperative future: principles of executable temporal logic
Maintaining knowledge about temporal intervals
Communications of the ACM
An Interval Logic for Real-Time System Specification
IEEE Transactions on Software Engineering
Truth, Deduction, and Computation: Logic and Semantics for Computer Science
Truth, Deduction, and Computation: Logic and Semantics for Computer Science
An Overview of Temporal and Modal Logic Programming
ICTL '94 Proceedings of the First International Conference on Temporal Logic
A Hardware Semantics Based on Temporal Intervals
Proceedings of the 10th Colloquium on Automata, Languages and Programming
Proving Precedence Properties: The Temporal Way
Proceedings of the 10th Colloquium on Automata, Languages and Programming
Object-Z: An Object-Oriented Extension to Z
FORTE '89 Proceedings of the IFIP TC/WG6.1 Second International Conference on Formal Description Techniques for Distributed Systems and Communication Protocols
An Introduction to Executable Modal and Temporal Logics
IJCAI '93 Proceedings of the Workshop on Executable Modal and Temporal Logics
Efficiently Executable Temporal Logic Programs
IJCAI '93 Proceedings of the Workshop on Executable Modal and Temporal Logics
Comparing Linear and Branching Time Temporal Logics
Temporal Logic in Specification
The Model Checking Problem for Concurrent Systems with Many Similar Processes
Temporal Logic in Specification
MCTL - An Extension of CTL for Modular Verification of Concurrent Systems
Temporal Logic in Specification
Extending Interval Logic to Real Time Systems
Temporal Logic in Specification
Z++, An Object-orientated Extension to Z
Proceedings of the Fifth Annual Z User Meeting on Z User Workshop
Reasoning in Interval Temporal Logic
Proceedings of the Carnegie Mellon Workshop on Logic of Programs
Verification of Safety Critical Systems Using TTM/RTTL
Proceedings of the Real-Time: Theory in Practice, REX Workshop
An interval logic for higher-level temporal reasoning
PODC '83 Proceedings of the second annual ACM symposium on Principles of distributed computing
Using TILCO for Specifying Real-Time Systems
ICECCS '96 Proceedings of the 2nd IEEE International Conference on Engineering of Complex Computer Systems
Actions and Events in Interval Temporal Logic
Actions and Events in Interval Temporal Logic
Metatem at work: modelling reactive systems using executable temporal logic
IEA/AIE'93 Proceedings of the 6th international conference on Industrial and engineering applications of artificial intelligence and expert systems
Evaluating real-time software specification languages
Computer Standards & Interfaces
Induction in the timed interval calculus
Theoretical Computer Science
Reasoning about temporal relations: The tractable subalgebras of Allen's interval algebra
Journal of the ACM (JACM)
On Inspection and Verification of Software with Timing Requirements
IEEE Transactions on Software Engineering
IEEE Transactions on Software Engineering
Real-time specification patterns
Proceedings of the 27th international conference on Software engineering
Dual Flow Nets: Modeling the control/data-flow relation in embedded systems
ACM Transactions on Embedded Computing Systems (TECS)
Research Directions in Requirements Engineering
FOSE '07 2007 Future of Software Engineering
Comments on temporal logics for real-time system specification
ACM Computing Surveys (CSUR)
Expressing and organizing real-time specification patterns via temporal logics
Journal of Systems and Software
Scenario-based timing verification of multiprocessor embedded applications
ACM Transactions on Design Automation of Electronic Systems (TODAES)
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A core ontology for requirements
Applied Ontology
Modeling time in computing: A taxonomy and a comparative survey
ACM Computing Surveys (CSUR)
Validating Component Integration with C-TILCO
Electronic Notes in Theoretical Computer Science (ENTCS)
Detecting design flaws in UML state charts for embedded software
HVC'06 Proceedings of the 2nd international Haifa verification conference on Hardware and software, verification and testing
Architectural abstractions for space and time awareness: the case of responsive environments
Proceedings of the Fourth European Conference on Software Architecture: Companion Volume
Timed test generation based on timed temporal logic
ICAI'10 Proceedings of the 11th WSEAS international conference on Automation & information
A property based specification formalism classification
Journal of Systems and Software
Introduction to special section on formal methods in pervasive computing
ACM Transactions on Autonomous and Adaptive Systems (TAAS) - Special section on formal methods in pervasive computing, pervasive adaptation, and self-adaptive systems: Models and algorithms
MAS: qualitative and quantitative reasoning
ProMAS'11 Proceedings of the 9th international conference on Programming Multi-Agent Systems
A survey on temporal logics for specifying and verifying real-time systems
Frontiers of Computer Science: Selected Publications from Chinese Universities
Automatic Generation of System Level Assertions from Transaction Level Models
Journal of Electronic Testing: Theory and Applications
Knowledge-Based Policy Conflict Analysis in Mobile Social Networks
Wireless Personal Communications: An International Journal
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The specification of reactive and real-time systems must be supported by formal, mathematically-founded methods in order to be satisfactory and reliable. Temporal logics have been used to this end for several years. Temporal logics allow the specification of system behavior in terms of logical formulas, including temporal constraints, events, and the relationships between the two. In the last ten years, temporal logics have reached a high degree of expressiveness. Most of the temporal logics proposed in the last few years can be used for specifying reactive systems, although not all are suitable for specifying real-time systems. In this paper we present a series of criteria for assessing the capabilities of temporal logics for the specification, validation, and verification of real-time systems. Among the criteria are the logic's expressiveness, the logic's order, presence of a metric for time, the type of temporal operators, the fundamental time entity, and the structure of time. We examine a selection of temporal logics proposed in the literature. To make the comparison clearer, a set of typical specifications is identified and used with most of the temporal logics considered, thus presenting the reader with a number of real examples.