Unique Solutions of Guarded Recursive Equations

This paper shows that guarded systems of recursive equations have unique solutions up to strong bisimilarity for any process algebra with a structural operation semantics in the ready simulation format. A similar result holds for simulation equivalence, for ready simulation equivalence and for the (ready) simulation preorder. As a consequence, these equivalences and preorders are full (pre)congruences for guarded recursion. Moreover, the unique-solutions result yields a sound and ground-complete axiomatisation of strong bisimilarity for any finitary GSOS language.