A Probabilistic Kleene Theorem

We provide a Kleene Theorem for (Rabin) probabilistic automata over finite words. Probabilistic automata generalize deterministic finite automata and assign to a word an acceptance probability. We provide probabilistic expressions with probabilistic choice, guarded choice, concatenation, and a star operator. We prove that probabilistic expressions and probabilistic automata are expressively equivalent. Our result actually extends to two-way probabilistic automata with pebbles and corresponding expressions.