Temporal logics for concurrent recursive programs: Satisfiability and model checking

We develop a general framework for the design of temporal logics for concurrent recursive programs. A program execution is modeled as a partial order with multiple nesting relations. To specify properties of executions, we consider any temporal logic whose modalities are definable in monadic second-order logic and which, in addition, allows PDL-like path expressions. This captures, in a unifying framework, a wide range of logics defined for ranked and unranked trees, nested words, and Mazurkiewicz traces that have been studied separately. We show that satisfiability and model checking are decidable in EXPTIME and 2EXPTIME, depending on the precise path modalities.