Ullrich Hustadt's Papers and Publications

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  2024 (1)
Model Construction for Modal Clauses. Hustadt, U.; Papacchini, F.; Nalon, C.; and Dixon, C. In Benzmüller, C.; Heule, M. J. H.; and Schmidt, R. A., editor(s), Automated Reasoning - 12th International Joint Conference, IJCAR 2024, Nancy, France, July 3-6, 2024, Proceedings, Part II, volume 14740, of Lecture Notes in Computer Science, pages 3–23, 2024. Springer
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  2023 (1)
Buy One Get 14 Free: Evaluating Local Reductions for Modal Logic. Nalon, C.; Hustadt, U.; Papacchini, F.; and Dixon, C. In Pientka, B.; and Tinelli, C., editor(s), Automated Deduction - CADE 29 - 29th International Conference on Automated Deduction, Rome, Italy, July 1-4, 2023, Proceedings, volume 14132, of Lecture Notes in Computer Science, pages 382–400, 2023. Springer
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  2022 (3)
Local is Best: Efficient Reductions to Modal Logic K. Papacchini, F.; Nalon, C.; Hustadt, U.; and Dixon, C. J. Autom. Reason., 66(4): 639–666. 2022.
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Correction to: Local is Best: Efficient Reductions to Modal Logic K. Papacchini, F.; Nalon, C.; Hustadt, U.; and Dixon, C. J. Autom. Reason., 66(4): 1099. 2022.
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Local Reductions for the Modal Cube. Nalon, C.; Hustadt, U.; Papacchini, F.; and Dixon, C. In Blanchette, J.; Kovács, L.; and Pattinson, D., editor(s), Automated Reasoning - 11th International Joint Conference, IJCAR 2022, Haifa, Israel, August 8-10, 2022, Proceedings, volume 13385, of Lecture Notes in Computer Science, pages 486–505, 2022. Springer
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  2021 (1)
Efficient Local Reductions to Basic Modal Logic. Papacchini, F.; Nalon, C.; Hustadt, U.; and Dixon, C. In Platzer, A.; and Sutcliffe, G., editor(s), Automated Deduction - CADE 28 - 28th International Conference on Automated Deduction, Virtual Event, July 12-15, 2021, Proceedings, volume 12699, of Lecture Notes in Computer Science, pages 76–92, 2021. Springer
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  2020 (3)
Multi-scale verification of distributed synchronisation. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. Formal Methods Syst. Des., 55(3): 171–221. 2020.
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KSP: Architecture, Refinements, Strategies and Experiments. Nalon, C.; Hustadt, U.; and Dixon, C. J. Autom. Reason., 64(3): 461–484. 2020.
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Theorem Proving for Pointwise Metric Temporal Logic Over the Naturals via Translations. Hustadt, U.; Ozaki, A.; and Dixon, C. J. Autom. Reason., 64(8): 1553–1610. 2020.
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  2019 (1)
Modal Resolution: Proofs, Layers, and Refinements. Nalon, C.; Dixon, C.; and Hustadt, U. ACM Trans. Comput. Log., 20(4): 23:1–23:38. 2019.
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  2018 (3)
Evaluating Pre-Processing Techniques for the Separated Normal Form for Temporal Logics. Hustadt, U.; Nalon, C.; and Dixon, C. In Konev, B.; Urban, J.; and Rümmer, P., editor(s), Proceedings of the 6th Workshop on Practical Aspects of Automated Reasoning co-located with Federated Logic Conference 2018 (FLoC 2018), Oxford, UK, July 19th, 2018, volume 2162, of CEUR Workshop Proceedings, pages 34–48, 2018. CEUR-WS.org
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The Power of Synchronisation: Formal Analysis of Power Consumption in Networks of Pulse-Coupled Oscillators. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. In Sun, J.; and Sun, M., editor(s), Formal Methods and Software Engineering - 20th International Conference on Formal Engineering Methods, ICFEM 2018, Gold Coast, QLD, Australia, November 12-16, 2018, Proceedings, volume 11232, of Lecture Notes in Computer Science, pages 160–176, 2018. Springer
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Multi-Scale Verification of Distributed Synchronisation. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. CoRR, abs/1809.10655. 2018.
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  2017 (9)
CRutoN: Automatic Verification of a Robotic Assistant's Behaviours. Gainer, P.; Dixon, C.; Dautenhahn, K.; Fisher, M.; Hustadt, U.; Saunders, J.; and Webster, M. In Petrucci, L.; Seceleanu, C.; and Cavalcanti, A., editor(s), Proceedings of the Joint 22nd International Workshop on Formal Methods for Industrial Critical Systems and 17th International Workshop on Automated Verification of Critical Systems (FMICS-AVoCS 2017), volume 10471, of Lecture Notes in Computer Science, pages 119–133, 2017. Springer
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The Power of Synchronisation: Formal Analysis of Power Consumption in Networks of Pulse-Coupled Oscillators. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. arXiv, abs/1709.04385. 2017.
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Theorem Proving for Metric Temporal Logic over the Naturals. Hustadt, U.; Ozaki, A.; and Dixon, C. In de Moura, L., editor(s), Proceedings of the 26th International Conference on Automated Deduction (CADE-26), volume 10395, of Lecture Notes in Computer Science, pages 326–343, 2017. Springer
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KSP: A Resolution-based Prover for Multimodal K, Abridged Report. Nalon, C.; Hustadt, U.; and Dixon, C. In Sierra, C., editor(s), Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence (IJCAI 2017), pages 4919–4923, 2017.
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Theorem Proving for Metric Temporal Logic over the Naturals. Hustadt, U.; Ozaki, A.; and Dixon, C. In de Moura, L., editor(s), Automated Deduction - CADE 26 - 26th International Conference on Automated Deduction, Gothenburg, Sweden, August 6-11, 2017, Proceedings, volume 10395, of Lecture Notes in Computer Science, pages 326–343, 2017. Springer
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CRutoN: Automatic Verification of a Robotic Assistant's Behaviours. Gainer, P.; Dixon, C.; Dautenhahn, K.; Fisher, M.; Hustadt, U.; Saunders, J.; and Webster, M. In Petrucci, L.; Seceleanu, C.; and Cavalcanti, A., editor(s), Critical Systems: Formal Methods and Automated Verification - Joint 22nd International Workshop on Formal Methods for Industrial Critical Systems - and - 17th International Workshop on Automated Verification of Critical Systems, FMICS-AVoCS 2017, Turin, Italy, September 18-20, 2017, Proceedings, volume 10471, of Lecture Notes in Computer Science, pages 119–133, 2017. Springer
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KSP: A Resolution-based Prover for Multimodal K, Abridged Report. Nalon, C.; Hustadt, U.; and Dixon, C. In Sierra, C., editor(s), Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence, IJCAI 2017, Melbourne, Australia, August 19-25, 2017, pages 4919–4923, 2017. ijcai.org
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Investigating Parametric Influence on Discrete Synchronisation Protocols Using Quantitative Model Checking. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. In Bertrand, N.; and Bortolussi, L., editor(s), Quantitative Evaluation of Systems - 14th International Conference, QEST 2017, Berlin, Germany, September 5-7, 2017, Proceedings, volume 10503, of Lecture Notes in Computer Science, pages 224–239, 2017. Springer
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The Power of Synchronisation: Formal Analysis of Power Consumption in Networks of Pulse-Coupled Oscillators. Gainer, P.; Linker, S.; Dixon, C.; Hustadt, U.; and Fisher, M. CoRR, abs/1709.04385. 2017.
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  2016 (4)
Probabilistic Model Checking of Ant-Based Positionless Swarming. Gainer, P.; Dixon, C.; and Hustadt, U. In Alboul, L.; Damian, D. D.; and Aitken, J. M., editor(s), Proceedings of the 17th Annual Conference Towards Autonomous Robotic Systems (TAROS 2016), volume 9716, of Lecture Notes in Computer Science, pages 127–138, 2016. Springer
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KSP: A Resolution-Based Prover for Multimodal K. Nalon, C.; Hustadt, U.; and Dixon, C. In Olivetti, N.; and Tiwari, A., editor(s), Proceedings of the 8th International Joint Conference on Automated Reasoning (IJCAR 2016), volume 9706, of Lecture Notes in Computer Science, pages 406–415, 2016.
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: A Resolution-Based Prover for Multimodal K. Nalon, C.; Hustadt, U.; and Dixon, C. In Olivetti, N.; and Tiwari, A., editor(s), Automated Reasoning - 8th International Joint Conference, IJCAR 2016, Coimbra, Portugal, June 27 - July 2, 2016, Proceedings, volume 9706, of Lecture Notes in Computer Science, pages 406–415, 2016. Springer
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Probabilistic Model Checking of Ant-Based Positionless Swarming. Gainer, P.; Dixon, C.; and Hustadt, U. In Alboul, L.; Damian, D. D.; and Aitken, J. M., editor(s), Towards Autonomous Robotic Systems - 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26 - July 1, 2016, Proceedings, volume 9716, of Lecture Notes in Computer Science, pages 127–138, 2016. Springer
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  2015 (4)
Ordered Resolution for Coalition Logic. Hustadt, U.; Gainer, P.; Dixon, C.; Nalon, C.; and Zhang, L. In de Nivelle, H., editor(s), Proceedings of the International Conference on Automated Reasoning with Analytic Tableaux and Related Methods (TABLEAUX 2015) [Wroclaw, Poland, 20–24 September 2015], volume 9323, of LNAI, pages 165-180, 2015. Springer International Publishing Switzerland
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A Modal-Layered Resolution Calculus for K. Nalon, C.; Hustadt, U.; and Dixon, C. In de Nivelle, H., editor(s), Proceedings of the International Conference on Automated Reasoning with Analytic Tableaux and Related Methods (TABLEAUX 2015) [Wroclaw, Poland, 20–24 September 2015], volume 9323, of LNAI, pages 181–196, 2015. Springer International Publishing Switzerland
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Ordered Resolution for Coalition Logic. Hustadt, U.; Gainer, P.; Dixon, C.; Nalon, C.; and Zhang, L. In de Nivelle, H., editor(s), Automated Reasoning with Analytic Tableaux and Related Methods - 24th International Conference, TABLEAUX 2015, Wrocław, Poland, September 21-24, 2015. Proceedings, volume 9323, of Lecture Notes in Computer Science, pages 169–184, 2015. Springer
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A Modal-Layered Resolution Calculus for K. Nalon, C.; Hustadt, U.; and Dixon, C. In de Nivelle, H., editor(s), Automated Reasoning with Analytic Tableaux and Related Methods - 24th International Conference, TABLEAUX 2015, Wrocław, Poland, September 21-24, 2015. Proceedings, volume 9323, of Lecture Notes in Computer Science, pages 185–200, 2015. Springer
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  2014 (6)
A resolution-based calculus for Coalition Logic. Nalon, C.; Zhang, L.; Dixon, C.; and Hustadt, U. 2014.
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A Resolution Prover for Coalition Logic. Nalon, C.; Zhang, L.; Dixon, C.; and Hustadt, U. In F. Mogavero; A. Murano; and M. Y. Vardi, editor(s), Proceedings 2nd International Workshop on Strategic Reasoning (SR 2014), volume 146, of Electronic Proceedings in Theoretical Computer Science, pages 65-74, 2014.
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A Resolution Calculus for Branching-Time Temporal Logic CTL. Zhang, L.; Hustadt, U.; and Dixon, C. ACM Transactions on Computational Logic, 15(1): 10:1-38. February 2014.
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A resolution-based calculus for Coalition Logic. Nalon, C.; Zhang, L.; Dixon, C.; and Hustadt, U. J. Log. Comput., 24(4): 883–917. 2014.
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A resolution calculus for the branching-time temporal logic CTL. Zhang, L.; Hustadt, U.; and Dixon, C. ACM Trans. Comput. Log., 15(1): 10:1–10:38. 2014.
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A Resolution Prover for Coalition Logic. Nalon, C.; Zhang, L.; Dixon, C.; and Hustadt, U. In Mogavero, F.; Murano, A.; and Vardi, M. Y., editor(s), Proceedings 2nd International Workshop on Strategic Reasoning, SR 2014, Grenoble, France, April 5-6, 2014, volume 146, of EPTCS, pages 65–73, 2014.
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  2013 (3)
A resolution-based calculus for Coalition Logic (Extended Version). Nalon, C.; Zhang, L.; Dixon, C.; and Hustadt, U. Technical Report ULCS-13-004, Department of Computer Science, University of Liverpool, Liverpool, UK, 2013.
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First-Order Resolution Methods for Modal Logics. Schmidt, R. A.; and Hustadt, U. In Voronkov, A.; and Weidenbach, C., editor(s), Programming Logics, volume 7797, of Lecture Notes in Computer Science, pages 345-391. Springer, 2013.
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First-Order Resolution Methods for Modal Logics. Schmidt, R. A.; and Hustadt, U. In Voronkov, A.; and Weidenbach, C., editor(s), Programming Logics - Essays in Memory of Harald Ganzinger, volume 7797, of Lecture Notes in Computer Science, pages 345–391, 2013. Springer
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  2010 (6)
A Comparison of Solvers for Propositional Dynamic Logic. Hustadt, U.; and Schmidt, R. In Konev, B.; Schmidt, R. A.; and Schulz, S., editor(s), Proceedings of the Workshop on Practical Aspect of Automated Reasoning (PAAR-2010) [Edinburgh, Scotland, 14 July 2010], 2010.
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Implementing a fair monodic temporal logic prover. Ludwig, M.; and Hustadt, U. AI Communications, 23(2–3): 69-96. 2010.
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CTL-RP: A computation tree logic resolution prover. Zhang, L.; Hustadt, U.; and Dixon, C. AI Communications, 23(2–3): 111-136. 2010.
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Implementing a fair monodic temporal logic prover. Ludwig, M.; and Hustadt, U. AI Commun., 23(2-3): 69–96. 2010.
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CTL-RP: A computation tree logic resolution prover. Zhang, L.; Hustadt, U.; and Dixon, C. AI Commun., 23(2-3): 111–136. 2010.
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A Comparison of Solvers for Propositional Dynamic Logic. Hustadt, U.; and Schmidt, R. A. In Schmidt, R. A.; Schulz, S.; and Konev, B., editor(s), Proceedings of the 2nd Workshop on Practical Aspects of Automated Reasoning, PAAR-2010, Edinburgh, Scotland, UK, July 14, 2010, volume 9, of EPiC Series in Computing, pages 63–73, 2010. EasyChair
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  2009 (9)
Fair Derivations in Monodic Temporal Reasoning. Ludwig, M.; and Hustadt, U. In Schmidt, R. A., editor(s), Proceedings of the 22nd International Conference on Automated Deduction (CADE-22), [Montreal, Canada, 2-7 August 2009], volume 5663, of Lecture Notes in Computer Science, pages 261-276, 2009. Springer
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Redundancy Elimination in Monodic Temporal Reasoning. Ludwig, M.; and Hustadt, U. In Peltier, N.; and Sofronie-Stokkermans, V., editor(s), Proceedings of the 7th International Workshop on First-Order Theorem Proving (FTP 2009) [Oslo, Norway, 6-7 July 2009], 2009.
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Resolution-Based Model Construction for PLTL. Ludwig, M.; and Hustadt, U. In Lutz, C.; and Raskin, J., editor(s), Proceedings of the 16th International Symposium on Temporal Representation and Reasoning (TIME-2009) [Brixen-Bressanone, Italy, 23-25 July 2009], pages 73-80, 2009. IEEE Computer Society
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A Refined Resolution Calculus for CTL. Zhang, L.; Hustadt, U.; and Dixon, C. In Schmidt, R. A., editor(s), Proceedings of the 22nd International Conference on Automated Deduction (CADE-22), Montreal, Canada, August 2-7, 2009, volume 5663, of Lecture Notes in Computer Science, pages 245-260, 2009. Springer
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Preface. Ranise, S.; and Hustadt, U. Ann. Math. Artif. Intell., 55(1-2): 1–2. 2009.
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A Refined Resolution Calculus for CTL. Zhang, L.; Hustadt, U.; and Dixon, C. In Schmidt, R. A., editor(s), Automated Deduction - CADE-22, 22nd International Conference on Automated Deduction, Montreal, Canada, August 2-7, 2009. Proceedings, volume 5663, of Lecture Notes in Computer Science, pages 245–260, 2009. Springer
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Fair Derivations in Monodic Temporal Reasoning. Ludwig, M.; and Hustadt, U. In Schmidt, R. A., editor(s), Automated Deduction - CADE-22, 22nd International Conference on Automated Deduction, Montreal, Canada, August 2-7, 2009. Proceedings, volume 5663, of Lecture Notes in Computer Science, pages 261–276, 2009. Springer
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Redundancy Elimination in Monodic Temporal Reasoning. Ludwig, M.; and Hustadt, U. In Peltier, N.; and Sofronie-Stokkermans, V., editor(s), Proceedings of the 7th International Workshop on First-Order Theorem Proving, FTP 2009, Oslo, Norway, July 6-7, 2009, volume 556, of CEUR Workshop Proceedings, 2009. CEUR-WS.org
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Resolution-Based Model Construction for PLTL. Ludwig, M.; and Hustadt, U. In Lutz, C.; and Raskin, J., editor(s), TIME 2009, 16th International Symposium on Temporal Representation and Reasoning, Bressanone-Brixen, Italy, 23-25 July 2009, Proceedings, pages 73–80, 2009. IEEE Computer Society
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  2008 (2)
Deciding expressive description logics in the framework of resolution. Hustadt, U.; Motik, B.; and Sattler, U. Information and Computation, 206(5): 579-601. 2008.
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Deciding expressive description logics in the framework of resolution. Hustadt, U.; Motik, B.; and Sattler, U. Inf. Comput., 206(5): 579–601. 2008.
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  2007 (5)
Reasoning in Description Logics by a Reduction to Disjunctive Datalog. Hustadt, U.; Motik, B.; and Sattler, U. Journal of Automated Reasoning, 39(3): 351-384. 2007.
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The Axiomatic Translation Principle for Modal Logic. Schmidt, R. A.; and Hustadt, U. ACM Transactions on Computational Logic, 8(4): 19/1-55. 2007.
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Reasoning in Description Logics by a Reduction to Disjunctive Datalog. Hustadt, U.; Motik, B.; and Sattler, U. J. Autom. Reason., 39(3): 351–384. 2007.
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The axiomatic translation principle for modal logic. Schmidt, R. A.; and Hustadt, U. ACM Trans. Comput. Log., 8(4): 19. 2007.
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Computational modal logic. Horrocks, I.; Hustadt, U.; Sattler, U.; and Schmidt, R. A. In Blackburn, P.; van Benthem, J. F. A. K.; and Wolter, F., editor(s), Handbook of Modal Logic, volume 3, of Studies in logic and practical reasoning, pages 181–245. North-Holland, 2007.
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  2006 (2)
Automated reasoning about metric and topology. Hustadt, U.; Tishkovsky, D.; Wolter, F.; and Zakharyaschev, M. In Fisher, M.; van der Hoek, W.; Konev, B.; and Lisitsa, A., editor(s), Proceedings of the 10th European Conference on Logics in Artificial Intelligence (JELIA 2006) [Liverpool, UK, 13-15 September 2006], volume 4160, of LNAI, pages 490-493, 2006. Springer
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Automated Reasoning About Metric and Topology. Hustadt, U.; Tishkovsky, D.; Wolter, F.; and Zakharyaschev, M. In Fisher, M.; van der Hoek, W.; Konev, B.; and Lisitsa, A., editor(s), Logics in Artificial Intelligence, 10th European Conference, JELIA 2006, Liverpool, UK, September 13-15, 2006, Proceedings, volume 4160, of Lecture Notes in Computer Science, pages 490–493, 2006. Springer
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  2005 (11)
First-Order Temporal Verification in Practice. Fernández-Gago, M. C.; Hustadt, U.; Dixon, C.; Fisher, M.; and Konev, B. Journal of Automated Reasoning, 34(3): 295-321. April 2005.
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Deciding Monodic Fragments by Temporal Resolution. Hustadt, U.; Konev, B.; and Schmidt, R. A. In Nieuwenhuis, R., editor(s), Proceedings of the 20th International Conference on Automated Deduction (CADE-20) [Tallin, Estonia, 22-27 July 2005], volume 3632, of LNAI, pages 204-218, 2005. Springer
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Description Logics and Disjunctive Datalog — The Story so Far. Hustadt, U.; and Motik, B. In Horrocks, I.; Sattler, U.; and Wolter, F., editor(s), Proceedings of the 2005 International Workshop on Description Logics (DL2005) [Edinburgh, Scotland, 26-28 July 2005], volume 189, of CEUR Workshop Proceedings, 2005.
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Data Complexity of Reasoning in Very Expressive Description Logics. Hustadt, U.; Motik, B.; and Sattler, U. In Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence (IJCAI 2005) [Edinburg, Scotland, 30 July - 5 August 2005], pages 466-471, 2005. International Joint Conferences on Artificial Intelligence
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A Decomposition Rule for Decision Procedures by Resolution-Based Calculi. Hustadt, U.; Motik, B.; and Sattler, U. In Baader, F.; and Voronkov, A., editor(s), Proceedings of the 11th International Conference on Logic for Programming, Artificial Intelligence, and Reasoning (LPAR 2004) [Montevideo, Uruguay, 14-18 March 2005), pages 21-35, 2005. Springer
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Mechanising first-order temporal resolution. Konev, B.; Degtyarev, A.; Dixon, C.; Fisher, M.; and Hustadt, U. Information and Computation, 199(1-2): 55-86. 2005.
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Mechanising first-order temporal resolution. Konev, B.; Degtyarev, A.; Dixon, C.; Fisher, M.; and Hustadt, U. Inf. Comput., 199(1-2): 55–86. 2005.
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First-Order Temporal Verification in Practice. Gago, M. C. F.; Hustadt, U.; Dixon, C.; Fisher, M.; and Konev, B. J. Autom. Reason., 34(3): 295–321. 2005.
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Deciding Monodic Fragments by Temporal Resolution. Hustadt, U.; Konev, B.; and Schmidt, R. A. In Nieuwenhuis, R., editor(s), Automated Deduction - CADE-20, 20th International Conference on Automated Deduction, Tallinn, Estonia, July 22-27, 2005, Proceedings, volume 3632, of Lecture Notes in Computer Science, pages 204–218, 2005. Springer
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Description Logics and Disjunctive Datalog - The Story so Far. Hustadt, U.; and Motik, B. In Horrocks, I.; Sattler, U.; and Wolter, F., editor(s), Proceedings of the 2005 International Workshop on Description Logics (DL2005), Edinburgh, Scotland, UK, July 26-28, 2005, volume 147, of CEUR Workshop Proceedings, 2005. CEUR-WS.org
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Data Complexity of Reasoning in Very Expressive Description Logics. Hustadt, U.; Motik, B.; and Sattler, U. In Kaelbling, L. P.; and Saffiotti, A., editor(s), IJCAI-05, Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence, Edinburgh, Scotland, UK, July 30 - August 5, 2005, pages 466–471, 2005. Professional Book Center
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  2004 (15)
SCAN is complete for all Sahlqvist formulae. Goranko, V.; Hustadt, U.; Schmidt, R.; and Vakarelov, D. In Berghammer, R.; Möller, B.; and Struth, G., editor(s), Revised Selected Papers of the 7th International Seminar on Relational Methods in Computer Science and the 2nd International Workshop on Kleene Algebra [Bad Malente, Germany, 12-17 May 2003], volume 3051, of LNCS, pages 149-162, 2004. Springer
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TRP++: A temporal resolution prover. Hustadt, U.; and Konev, B. In Baaz, M.; Makowsky, J.; and Voronkov, A., editor(s), Collegium Logicum, pages 65-79. Kurt Gödel Society, 2004.
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TeMP: A Temporal Monodic Prover. Hustadt, U.; Konev, B.; Riazanov, A.; and Voronkov, A. In Basin, D. A.; and Rusinowitch, M., editor(s), Proceedings of the Second International Joint Conference on Automated Reasoning (IJCAR 2004) [Cork, Ireland, 4-8 July 2004], volume 3097, of LNAI, pages 326-330, 2004. Springer
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TeMP: A Temporal Monodic Prover. Hustadt, U.; Konev, B.; Riazanov, A.; and Voronkov, A. Technical Report ULCS-04-004, Department of Computer Science, University of Liverpool, Liverpool, UK, 2004.