We describe BDD-based decision procedures for the modal logic K. Our approach is inspired by the automata-theoretic approach, but we avoid explicit automata construction. Instead, we compute certain fixpoints of a set of types — which can be viewed as an on-the-fly emptiness of the automaton. We use BDDs to represent and manipulate such type sets, and investigate different kinds of representations as well as a “level-based” representation scheme. The latter turns out to speed up construction and reduce memory consumption (...) considerably. We also study the effect of formula simplification on our decision procedures. To prove the viability of our approach, we compare our approach with a representative selection of other approaches, including a translation of K to QBF. Our results indicate that the BDD-based approach dominates for modally heavy formulae, while search-based approaches dominate for propositionally heavy formulae. (shrink)