Lecture Notes in Artificial Intelligence 1701 Subseries of Lecture Notes in Computer Science Edited by J. G. Carbonell and J. Siekmann

Lecture Notes in Computer Science Edited by G. Goos, J. Hartmanis and J. van Leeuwen ¿ Berlin Heidelberg New York Barcelona Hong Kong London Milan Paris Singapore Tokyo Wolfram Burgard Thomas Cristaller Armin B. Cremers (Eds.)

KI-99: Advances in Artificial Intelligence

23rd Annual German Conference on Artificial Intelligence Bonn, Germany, September 13-15, 1999

Proceedings

½ ¿ Series Editors Jaime G. Carbonell, Carnegie Mellon University, Pittsburgh, PA, USA Jorg¨ Siekmann, University of Saarland, Saarbrucken,¨ Germany

Volume Editors Wolfram Burgard Armin B. Cremers Universitat¨ Bonn, Institut fur¨ Informatik III Romerstraße¨ 164, D-53117 Bonn, Germany E-mail: wolfram/abc @cs.uni-bonn.de { } Thomas Cristaller GMD - Forschungszentrum Informationstechnik GmbH Schloß Birlinghoven, D-53754 Sankt Augustin, Germany E-mail: [email protected]

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Die Deutsche Bibliothek - CIP-Einheitsaufnahme Advances in artificial intelligence : proceedings / KI-99, 23rd Annual German Conference on Artificial Intelligence, Bonn, Germany, September 13 - 15, 1999. Wolfram Burgard . . . (ed.). - Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong ; London ; Milan ; Paris ; Singapore ; Tokyo : Springer, 1999 (Lecture notes in computer science ; Vol. 1701 : Lecture notes in artificial intelligence) ISBN 3-540-66495-5

CR Subject Classification (1998): I.2, I.4, I.5

ISBN 3-540-66495-5 Springer-Verlag Berlin Heidelberg New York

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Printed in Germany Typesetting: Camera-ready by author SPIN 10705034 06/3142–543210 Printedonacid-free paper Preface

For many years, Artificial Intelligence technology has served in a great variety of successful applications. AI research and researchers have contributed much to the vision of the so-called Information Society. As early as the 1980s, some of us imagined distributed knowledge bases containing the explicable knowledge of a company or any other organization. Today, such systems are becoming reality. In the process, other technologies have had to be developed and AI-technology has blended with them, and companies are now sensitive to this topic. The Internet and WWW have provided the global infrastructure, while at the same time companies have become global in nearly every aspect of enterprise. This process has just started, a little experience has been gained, and therefore it is tempting to reflect and try to forecast, what the next steps may be. This has given us one of the two main topics of the 23rd Annual German Conference on Artificial Intelligence (KI-99) held at the University of Bonn: The Knowledge Society. Two of our invited speakers, Helmut Willke, Bielefeld, and Hans-Peter Kriegel, Munich, dwell on different aspects with different perspectives. Helmut Willke deals with the concept of virtual organizations, while Hans-Peter Kriegel applies data mining concepts to pattern recognition tasks. The three application forums are also part of the Knowledge Society topic: “IT-based innovation for environment and development”, “Knowledge management in enterprises”, and “Knowledge management in village and city planning of the information society”. But what is going on in AI as a science? Good progress has been made in many established subfields such as Knowledge Representation, Learning, Logic, etc. The KI-99 technical program includes 15 full and 6 short papers out of 32 received; together with the workshop program and poster sessions, we feel the conference reflects the steady growth of the field and represents the forefront of AI research. It was a pleasure to work with the program committee, and especially to choose one of the accepted papers for the Best Paper Award donated by Springer-Verlag. This year, the prize goes to Bernhard Nebel, Freiburg, for his paper “Compilation Schemes: A Theoretical Tool for Assessing the Expressive Power of Planning Formalisms”, which will also be published in the special issue of the “KI” journal for this conference. But within the steady flow of research, new trends emerge from time to time, and an important one, which we as organizers felt should get special attention at KI-99, is the rediscovery of robotics or, more precisely, of robots for AI. We put this interest under the second main topic of the conference: Cognitive Robotics. Three invited speakers present their perspectives: Sebastian Thrun, Pittsburgh, on learning and probabilistic reasoning; Rolf Pfeifer, Zurich, on a general methodology for behavior-oriented AI; Hans-Hellmut Nagel, Karlsruhe, on image processing. Another flavor of the KI-99 conference is the sharing of a part of the pro- gram with the pattern recognition conference DAGM-99 in the form of a joint VI Preface invited talk by Takashi Matsuyama on cooperative distributed vision, as well as a common technical session, and a joint technical exhibition. As applications and scientific questions evolve, so does this conference. We have introduced a new section into the program and into these proceedings, in which short papers are presented that deserve a technical presentation. This provides faster access to ideas and concepts than with the accepted long pa- pers. Another reinvention is that of student posters, which give students the opportunity to present and discuss their work with the scientific community. The annual AI conference in Germany now has a long tradition, evolving together with the maturing field of AI, reflecting every year a snapshot of the quality of research and development. Over the years, the KI conference has turned out to be one of the largest national Computer Science conferences in Germany. Yet, the trend to specialization and therefore to fragmentation and internationalization of AI raises the question: Do we need a regional event like this, adding another item to the market of proceedings? We as organizers have answered this question with a yes!, together with all who have contributed in one way or another to make this conference and this new volume of LNCS a success. Many thanks to Christine Harms and Manfred Domke. They made sure that the details were taken care of and the deadlines were met. Many students from the Institute on Autonomous intelligent Systems at GMD and the Computer Science Department at the University of Bonn together with our secretaries Marie-Luise Liebegut and Myriam Jourdan helped us in preparing this con- ference. Special thanks to Sylvia Johnigk, who helped produce the complete proceedings in LATEX.

July 1999 Wolfram Burgard Thomas Christaller Armin B. Cremers 23rd Annual German Conference on Artificial Intelligence (KI-99)

Conference Chairs

Wolfram Burgard, Bonn Thomas Christaller, Sankt Augustin

Armin B. Cremers, Bonn

Program Committee Chair

Thomas Christaller, Sankt Augustin

Program Committee Members

Elisabeth Andr´e, Saarbr¨ucken Clemens Beckstein, Jena Gerhard Brewka, Leipzig Wolfram Burgard, Bonn Hans-Dieter Burkhard, Berlin Thomas Christaller, Sankt Augustin, Armin B. Cremers, Bonn Kerstin Dautenhahn, Reading, UK R¨udiger Dillmann, Karlsruhe Wolfgang F¨orstner, Bonn Ulrich Furbach, Koblenz Horst-Michael Groß, Ilmenau Joachim Hertzberg, Sankt Augustin Otthein Herzog, Bremen Wolfgang Hoeppner, Duisburg Knut Hinkelmann, Kaiserslautern Alois C. Knoll, Bielefeld Jana K¨ohler, Freiburg Gisbert Lawitzky, M¨unchen Hanspeter A. Mallot, T¨ubingen Katharina Morik, Dortmund Bernd Neumann, Hamburg Gunter Schlageter, Hagen Stefan Wrobel, Magdeburg

Workshop Chair

Norbert Reithinger, Saarbr¨ucken

Exhibition Chairs

Karlheinz Schunk, Sankt Augustin Volker Steinhage, Bonn VIII Organization

List of Additional Referees

Baumgartner, Peter Dahn, Ingo Deister, Angelika G¨usgen, Hans Hannebauer, Markus K¨uhnel, Ralf Lenz, Marie Meyer auf’m Hofe, Harald M¨uller, J¨org Paaß, Gerhard Pl¨umer, Lutz Stolzenburg, Frieder Tobies, Stephan Wendler, Jan Wolter, Frank Table of Contents

Invited Papers

From AI to Systemic Knowledge Management ...... 1 Helmut Willke

MINERVA: A Tour-Guide Robot that Learns ...... 14 Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk H¨ahnel, Charles Rosenberg, Nicholas Roy, Jamieson Schulte, and Dirk Schulz

Dynamics, Morphology, and Materials in the Emergence of Cognition ..... 27 Rolf Pfeifer

Natural Language Description of Image Sequences as a Form of Knowledge Representation ...... 45 Hans-Hellmut Nagel

Knowledge Discovery in Spatial Databases ...... 61 Martin Ester, Hans-Peter Kriegel, and J¨org Sander

Cooperative Distributed Vision: Dynamic Integration of Visual Perception, Action, and Communication ...... 75 Takashi Matsuyama Technical Papers - Section 1

Computing Probabilistic Least Common Subsumers in Description Logics . 89 Thomas Mantay, Ralf M¨oller, and Alissa Kaplunova

Revising Nonmonotonic Theories: The Case of Defeasible Logic ...... 101 D. Billington, G. Antoniou, G. Governatori, and M. Maher

On the Translation of Qualitative Spatial Reasoning Problems into Modal Logics ...... 113 Werner Nutt

Following Conditional Structures of Knowledge ...... 125 Gabriele Kern-Isberner Section 2

A Theory of First-Order Counterfactual Reasoning ...... 137 Michael Thielscher X Table of Contents

Logic–Based Choice of Projective Terms ...... 149 Ralf Klabunde

Knowledge Based Automatic Composition and Variation of Melodies for Minuets in Early Classical Style ...... 159 Mathis L¨othe

Inferring Flow of Control in Program Synthesis by Example ...... 171 Stefan Schr¨odl and Stefan Edelkamp Section 3 Compilation Schemes: A Theoretical Tool for Assessing the Expressive Power of Planning Formalisms ...... 183 Bernhard Nebel

Generalized Cases: Representation and Steps Towards Efficient Similarity Assessment ...... 195 Ralph Bergmann and Ivo Vollrath

Be Busy and Unique ...or Be History — The Utility Criterion for Removing Units in Self-Organizing Networks ...... 207 Bernd Fritzke Section 4 Development of Decision Support Algorithms for Intensive Care Medicine: A New Approach Combining Time Series Analysis and a Knowledge Base System with Learning and Revision Capabilities ...... 219 Michael Imhoff, Ursula Gather, and Katharina Morik

Object Recognition with Shape Prototypes in a 3D Construction Scenario . 231 Martin Hoffhenke and Ipke Wachsmuth

Probabilistic, Prediction-Based Schedule Debugging for Autonomous Robot Office Couriers ...... 243 Michael Beetz, Maren Bennewitz, and Henrik Grosskreutz Section 5 Collaborative Multi-robot Localization ...... 255 Dieter Fox, Wolfram Burgard, Hannes Kruppa, and Sebastian Thrun

Object Classification Using Simple, Colour Based Visual Attention and a Hierarchical Neural Network for Neuro-symbolic Integration ...... 267 Hans A. Kestler, Steffen Simon, Axel Baune, Friedhelm Schwenker, and G¨unther Palm

A Flexible Architecture for Driver Assistance Systems ...... 281 Uwe Handmann, Iris Leefken, and Christos Tzomakas Table of Contents XI

Short Papers A Theory for Causal Reasoning ...... 285 Camilla Schwind

Systematic vs. Local Search for SAT ...... 289 Holger H. Hoos and Thomas St¨utzle

Information Environments for Software Agents ...... 295 Stefan Haustein

Improving Reasoning Efficiency for Subclasses of Allen’s Algebra with Instantiation Intervals ...... 299 J¨org Kahl, Lothar Hotz, Heiko Milde, and Stephanie E. Wessel

Agents in Traffic Modelling – From Reactive to Social Behaviour ...... 303 Ana L´ucia C. Bazzan, Joachim Wahle, and Franziska Kl¨ugl

Time-Effect Relations of Medical Interventions in a Clinical Information System ...... 307 Michael Imhoff, Marcus Bauer, and Ursula Gather

Author Index ...... 311