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Do we need to take two variables (p and q) in this one as it's just G[a U B]? Can't we write just this?

G[q ↔ [φ U ψ]] ⇔ G[q ↔ ψ ∨ φ ∧ Xq]∧ GF[φ → q]


in * TF "Emb. Sys. and Rob." by (300 points)

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Yes, that can be improved. We can abbreviate the inner formula which is enough to obtain a safety automaton:

G[a WU b] = AE({p},1,p<->b|a&Xp,Gp)

That simplifies the entire exam problem, of course.
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