Deep sequent systems for modal logic

We see a systematic set of cut-free axiomatisations for all the basic normal modal logics formed by some combination the axioms d, t, b, 4, 5. They employ a form of deep inference but otherwise stay very close to Gentzen’s sequent calculus, in particular they enjoy a subformula property in the literal sense. No semantic notions are used inside the proof systems, in particular there is no use of labels. All their rules are invertible and the rules cut, weakening and contraction are admissible. All systems admit a straightforward terminating proof search procedure as well as a syntactic cut elimination procedure.