Kripke’s Worlds An Introduction to Modal Logics via Tableaux / by Olivier Gasquet, Andreas Herzig, Bilal Said, François Schwarzentruber.
Possible worlds models were introduced by Saul Kripke in the early 1960s. Basically, a possible worlds model is nothing but a graph with labelled nodes and labelled edges. Such graphs provide semantics for various modal logics (alethic, temporal, epistemic and doxastic, dynamic, deontic, description...
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