Undecidability of domino games and hhp-bisimilarity

History preserving bisimilarity (hp-bisimilarity) and hereditary history preserving bisimilarity (hhp-bisimilarity) are behavioural equivalences taking into account causal relationships between events of concurrent systems. Their prominent feature is that they are preserved under action refinement, an operation important for the top-down design of concurrent systems. It is shown that, in contrast to hp-bisimilarity, checking hhp-bisimilarity for finite labelled asynchronous transition systems is undecidable, by a reduction from the halting problem of 2-counter machines. To make the proof more transparent a novel intermediate problem of checking domino bisimilarity for origin constrained tiling systems is introduced and shown undecidable. It is also shown that the unlabelled domino bisimilarity problem is undecidable, which implies undecidability of hhp-bisimilarity for unlabelled finite asynchronous systems. Moreover, it is argued that the undecidability of hhp-bisimilarity holds for finite elementary net systems and 1-safe Petri nets.