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We introduce Timed Recursive CTL, a merger of two extensions of the well-known branching-time logic CTL: Timed CTL is interpreted over real-time systems like timed automata; Recursive CTL introduces a powerful recursion operator which takes the expressiveness of this logic CTL well beyond that of regular properties. The result is an expressive logic for real-time properties. We show that its model checking problem is decidable over timed automata, namely 2-EXPTIME-complete.
Bruse et al. (Sat,) studied this question.