Layered automata: A canonical model for automata over infinite words

We introduce layered automata, a subclass of alternating parity automata that generalises deterministic automata. Assuming a consistency property, these automata are history deterministic and 0-1 probabilistic. We show that every omega-regular language is recognised by a unique minimal consistent layered automaton, and that this canonical form can be computed in polynomial time from every layered or deterministic automaton. We further establish that for layered automata both consistency checking and inclusion testing can be performed in polynomial time. Much like deterministic finite automata, minimal consistent layered automata admit a characterisation based on congruences.