Lecture Notes in Artificial Intelligence 7006

Subseries of Lecture Notes in Computer Science

LNAI Series Editors Randy Goebel University of Alberta, Edmonton, Canada Yuzuru Tanaka Hokkaido University, Sapporo, Japan Wolfgang Wahlster DFKI and Saarland University, Saarbrücken, Germany

LNAI Founding Series Editor Joerg Siekmann DFKI and Saarland University, Saarbrücken, Germany Joscha Bach Stefan Edelkamp (Eds.)

KI 2011:Advances in Artificial Intelligence

34th Annual German Conference on AI Berlin, Germany, October 4-7, 2011 Proceedings

13 Series Editors

Randy Goebel, University of Alberta, Edmonton, Canada Jörg Siekmann, University of Saarland, Saarbrücken, Germany Wolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany

Volume Editors

Joscha Bach Humboldt-University of Berlin Berlin School of Mind and Brain Unter den Linden 6, 10099 Berlin, Germany E-mail: [email protected]

Stefan Edelkamp University of Bremen Faculty 3, Mathematics and Computer Science P.O. Box 33 04 40, 28334 Bremen, Germany E-mail: [email protected]

ISSN 0302-9743 e-ISSN 1611-3349 ISBN 978-3-642-24454-4 e-ISBN 978-3-642-24455-1 DOI 10.1007/978-3-642-24455-1 Springer Heidelberg Dordrecht London New York

Library of Congress Control Number: 2011936978

CR Subject Classification (1998): I.2, H.4, F.1, H.2.8, I.2.6, H.5.2

LNCS Sublibrary: SL 7 – Artificial Intelligence

© Springer-Verlag Berlin Heidelberg 2011

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Preface

The yearly German Conference on Artificial Intelligence is the premier forum for German research in artificial intelligence, and attracts numerous international guests, too. KI 2011, the 34th event of the series, reflected a long-standing tra- dition, and continued to mirror the trends and developments of the science. The 2011 conference took place in Berlin during October 4–7, in co-location with INFORMATIK 2011, the 41st Annual Meeting of the Gesellschaft f¨ur Infor- matik, and MATES 2011, the 9th German Conference on Multi-Agent System Technologies. Since its inception, artificial intelligence has been at the vanguard of computer science, and today, its applications and methods have become so widespread and ubiquitous that most people simply take them for granted. Its contributions have so thoroughly permeated the fabric of our digital lives that they have become almost invisible. Artificial intelligence has become a mainstay, and is integrated everywhere from entertainment electronics and Internet technologies to transport and industry applications, from finance to agriculture, from art to electronic reading, from cognitive science to medicine. KI 2011 reflected this by its focus on advances “Towards a Smart World—Evolving Technologies in Artificial Intelligence.” This volume contains the technical papers of KI 2011. For the technical pro- gram, we received 81 submissions, of which the Program Committee accepted 32 after a rigorous review (25 of these as full papers, and 7 as short papers, lim- ited to five pages). The volume also includes three programmatic contributions corresponding to invited talks of KI 2011: “Everything You Always Wanted to Know About Planning (But Were Afraid to Ask)” by J¨org Hoffmann, “Why We Need Evolutionary Semantics” by Luc Steels, and “General Game Playing in AI Research and Education” by Michael Thielscher. A fourth invited talk by Sven Koenig concerned “Making Good Decisions: Case Studies in Planning and Coordination.” On the first day of the conference, PhD students presented and discussed their work in a doctoral consortium, which ended in a panel discussion on meth- ods, practices and philosophy of artificial intelligence, held by Bernhard Nebel, University of Freiburg; Franz Baader, TU Dresden; Ulrich Frank, University of Duisburg-Essen; and Ingo J. Timm, University of Trier. The 1st German Open in General Game Playing (GO-GGP) was organized by the competition chairs Peter Kissmann and Tim Federholzner. VI Preface

In addition to the main program, KI 2011 featured seven workshops with many additional research presentations: – 5th Workshop on Emotion and Computing—Current Research and Future Impact. Chair: Dirk Reichardt. – 6th Workshop on Behavior Monitoring and Interpretation (BMI 2011). Chairs: Bj¨orn Gottfried and Hamid Aghajan. – Third Workshop on Dynamics of Knowledge and Belief—Evolving Knowledge in Theory and Applications. Chairs: Gabriele Kern-Isberner and Christoph Beierle. – 26th Workshop on Planning Scheduling, Configuration Design (PuK 2011). Chairs: J¨urgen Sauer, Stefan Edelkamp and Bernd Schattenberg. – First International Workshop on Algorithmic Intelligence. Chairs: Carsten Elfers, Rune Jensen, Hartmut Messerschmidt and Rasmus Pagh. – Workshop on Visibility in Information Spaces and in Geographic Environ- ments. Chairs: Andreas Henrich, Christoph Schlieder and Ute Schmid. – Workshop on Context-Aware Intelligent Assistance (CAIA 2011). Chairs: Stefan Mandl, Bernd Ludwig and Florian Michahelles. Giorgio Grisetti, Andreas N¨uchter and Alexander Kleiner offered a full-day tutorial on “SLAM to the Rescue: A Hands-On Tutorial on Using State-of-the- Art SLAM Algorithms in Harsh Environments.” Various robotics researchers from Berlin universities provided demonstrations of their work, especially Verena Hafner, Manfred Hild, Clemens Eppner, Daniel Seifert, and their teams. The organization of a conference like this one is only possible with the support of many individuals. First of all, the organizers wish to thank the authors for their contributions. We had a very strong and competent Program Committee consisting of 75 members, which ensured that each submission underwent several thorough and timely reviews. The KI 2011 conference team included: – Co-location: Doris F¨ahndrich (TU Berlin) – Workshop Chair: Bernd Schattenberg (University of Ulm) – Tutorial Chair: Sebastian Kupferschmid (University of Freiburg) – Doctorial Consortium Chair: Ren´e Schumann (University of Applied Sciences Western Switzerland) – Industry Liaisons: Roman Englert (T-LABs) We extend our thanks to these and all other people and institutions that made this happening a success, especially the Deutsche Forschungsgemeinschaft (DFG), the Gesellschaft f¨ur Informatik (GI), the Technologie-Zentrum Infor- matik in Bremen (TZI), the Technical University of Berlin, Springer, and the Elsevier Journal for Artificial Intelligence (AIJ).

August 2011 Joscha Bach Stefan Edelkamp Organization

General Chair

Stefan Edelkamp Universit¨at Bremen

Local Chair

Joscha Bach Humboldt-Universit¨at zu Berlin

Workshop Chair

Bernd Schattenberg Universit¨at Ulm

Tutorial Chair

Sebastian Kupferschmid Universit¨at Freiburg

Doctorial Consortium Chair

Ren´e Schumann NII, Tokyo

Program Committee

Klaus-Dieter Althoff University of Hildesheim, Germany Tamim Asfour Karlsruhe Institute of Technology, Germany Amit Banerjee University of Nevada, Reno, USA Sven Behnke University of Bonn, Germany Maren Bennewitz University of Freiburg, Germany Ralph Bergmann University of Trier, Germany Marc Cavazza University of Teesside, UK Daniel Cernea University of Kaiserslautern, Germany Eliseo Clementini University of L’Aquila, Italy Cristobal Curio Max Planck Institute for Biological Cybernetics, Germany Kerstin Dautenhahn University of Hertfordshire, UK Frank Dylla University of Bremen, Germany Dominik Endres University of T¨ubingen, Germany Florian Eyben Munich University of Technology, Germany VIII Organization

Udo Frese University of Bremen, Germany Stefan Funke University of Stuttgart, Germany Johannes F¨urnkranz TU Darmstadt, Germany Christopher Geib University of Edinburgh, UK Bjoern Gottfried University of Bremen, Germany Horst-Michael Gross Ilmenau University of Technology, Germany Jens-Steffen Gutmann Evolution Robotics, Pasadena, USA Martin G¨unther University of Osnabr¨uck, Germany Fred Hamker Chemnitz University of Technology, Germany Malte Helmert University of Freiburg, Germany Dominik Henrich University of Bayreuth, Germany Joachim Hertzberg University of Osnabr¨uck, Germany Otthein Herzog University of Bremen and Jacobs University Bremen, Germany J¨org Hoffmann INRIA, France Gabriele Kern-Isberner Dortmund University of Technology, Germany Peter Kissmann University of Bremen, Germany Alexander Kleiner University of Freiburg, Germany Roman Kontchakov Birkbeck College, UK Oliver Kramer University of Oldenburg, Germany Ralf Krestel Leibniz Universit¨at Hannover, Germany Rudolf Kruse Otto von Guericke University Magdeburg, Germany Torsten Kr¨oger Stanford University, USA Bogdan Kwolek Rzeszow University of Technology, Poland Kai-Uwe K¨uhnberger University of Osnabr¨uck, Germany Gerhard Lakemeyer RWTH Aachen University, Germany Tobias Lang Freie Universit¨at Berlin, Germany Hagen Langer University of Bremen, Germany Volker Lohweg inIT - Institute Industrial IT, Germany Benedikt L¨owe Universiteit van Amsterdam, The Netherlands Katja Markert University of Leeds, UK Robert Mattm¨uller University of Freiburg, Germany B¨arbel Mertsching GET Lab, Paderborn University, Germany Hartmut Messerschmidt University of Bremen, Germany Bernd Michaelis Otto von Guericke University Mageburg, Germany Ralf M¨oller Hamburg University of Technology, Germany Oliver Niggemann inIT - Institute Industrial IT, Germany Justus Piater University of Innsbruck, Austria Felix Putze Karlsruhe Institute of Technology, Germany Jochen Renz Australian National University, Australia Gerhard Rigoll Munich University of Technology, Germany Alessandro Saffiotti Orebro¨ University, Sweden Organization IX

J¨urgen Sauer University of Oldenburg, Germany Bernd Schattenberg Ulm University, Germany Malte Schilling International Computer Science Institute, Berkeley, USA Ute Schmid University of Bamberg, Germany Lutz Schr¨oder DFKI Bremen and University of Bremen, Germany Carsten Schuermann IT University of Copenhagen, Denmark Ren´e Schumann National Institute of Informatics, Japan Jan-Georg Smaus University of Freiburg, Germany Luciano Spinello University of Freiburg, Germany Steffen Staab University of Koblenz-Landau, Germany Cyrill Stachniss University of Freiburg, Germany Rainer Stiefelhagen Karlsruhe Institute of Technology, Germany Ingo J. Timm University of Trier, Germany Rudolph Triebel University of Oxford, UK Toby Walsh NICTA and UNSW, Australia Thomas Wiemann University of Osnabr¨uck, Germany Dirk Wollherr Munich University of Technology, Germany Diedrich Wolter University of Bremen, Germany Stefan W¨olfl University of Freiburg, Germany

Additional Reviewers

Alhalah, Ziad IJsselmuiden, Joris Ruß, Georg Althoff, Daniel Janssen, Frederik Ryll, Markus Bach, Kerstin Jung, Jean Christoph Schauerte, Boris Banerjee, Amit Maier, Daniel Schiffer, Stefan Bengtson, Jesper Martiny, Karsten Stanczyk, Bartlomiej Besold, Tarek Richard Maye, Jerome Steinbrecher, Matthias Bienvenu, Meghyn Moewes, Christian Stommel, Martin Breidt, Martin M¨uller, Steffen Storandt, Sabine Eisner, Jochen Newo, Rgis Stricker, Ronny Elfers, Carsten Oezcep, Oezguer Szedmak, Sandor Eyerich, Patrick Paris, Jeff Volkhardt, Michael Ferrein, Alexander Passenberg, Benjamin Wandelt, Sebastian Goncharov, Sergey Paulheim, Heiko Ziegelmann, Mark Held, Pascal Pfeifer, Niki Hornung, Armin Rohrm¨uller, Florian Table of Contents

Everything You Always Wanted to Know about Planning (But Were Afraid to Ask) ...... 1 J¨org Hoffmann

Why We Need Evolutionary Semantics ...... 14 Luc Steels

General Game Playing in AI Research and Education...... 26 Michael Thielscher

Conversational Agents in a Virtual World ...... 38 Peter Adolphs, Anton Benz, N´uria Bertomeu Castell´o, Xiwen Cheng, Tina Kl¨uwer, Manfred Krifka, Alexandra Strekalova, Hans Uszkoreit, and Feiyu Xu

Dependency Graphs as a Generic Interface between Parsers and Relation Extraction Rule Learning ...... 50 Peter Adolphs, Feiyu Xu, Hong Li, and Hans Uszkoreit

Evaluation and Comparison Criteria for Approaches to Probabilistic Relational Knowledge Representation ...... 63 Christoph Beierle, Marc Finthammer, Gabriele Kern-Isberner, and Matthias Thimm

Segmentation of Action Streams Human Observers vs. Bayesian Binning ...... 75 Dominik Endres, Andrea Christensen, Lars Omlor, and Martin A. Giese

Speedy Local Search for Semi-Supervised Regularized Least-Squares .... 87 Fabian Gieseke, Oliver Kramer, Antti Airola, and Tapio Pahikkala

Model-Based Object Recognition from 3D Laser Data ...... 99 Martin G¨unther, Thomas Wiemann, Sven Albrecht, and Joachim Hertzberg

Swarm Intelligence for Medical Volume Segmentation: The Contribution of Self-reproduction ...... 111 Robert Haase, Hans-Joachim B¨ohme, Daniel Zips, and Nasreddin Abolmaali

Efficient Sequential Clamping for Lifted Message Passing...... 122 Fabian Hadiji, Babak Ahmadi, and Kristian Kersting XII Table of Contents

BetterRelations:Using a Game to Rate Linked Data Triples ...... 134 J¨orn Hees, Thomas Roth-Berghofer, Ralf Biedert, Benjamin Adrian, and Andreas Dengel

Generic Performance Metrics for Continuous Activity Recognition ...... 139 Albert Hein and Thomas Kirste

Bayesian Logic Networks and the Search for Samples with Backward Simulation and Abstract Constraint Learning ...... 144 Dominik Jain, Klaus von Gleissenthall, and Michael Beetz

Transformation Rules for First-Order Probabilistic Conditional Logic Yielding Parametric Uniformity ...... 157 Ruth Janning and Christoph Beierle

Variance Scaling for EDAs Revisited ...... 169 Oliver Kramer and Fabian Gieseke

Hierarchically Structured Energy Markets as Novel Smart Grid Control Approach ...... 179 J¨org L¨assig, Benjamin Satzger, and Oliver Kramer

Compiling AI Engineering Models for Probabilistic Inference ...... 191 Paul Maier, Dominik Jain, and Martin Sachenbacher

Smooth Conditional Transition Paths in Dynamical Gaussian Networks ...... 204 Michal Matuszak, Jacek Mi¸ekisz, and Tomasz Schreiber

HTN-Style Planning in Relational POMDPs Using First-Order FSCs ... 216 Felix M¨uller and Susanne Biundo

Gates for Handling Occlusion in Bayesian Models of Images: An Initial Study ...... 228 Daniel Oberhoff, Dominik Endres, Martin A. Giese, and Marina Kolesnik

TGA-Based Controllers for Flexible Plan Execution ...... 233 Andrea Orlandini, Alberto Finzi, Amedeo Cesta, and Simone Fratini

A Metric to Evaluate a Cluster by Eliminating Effect of Complement Cluster ...... 246 Hamid Parvin, Behrouz Minaei, and Sajad Parvin

Predicting Numbers: An AI Approach to Solving Number Series ...... 255 Marco Ragni and Andreas Klein

Prediction of Classifier Training Time Including Parameter Optimization ...... 260 Matthias Reif, Faisal Shafait, and Andreas Dengel Table of Contents XIII

Human-Machine Corpus Analysis for Generation and Interaction with Spoken Dialog Systems ...... 272 Roland Roller, Tatjana Scheffler, and Norbert Reithinger

Comparison of Laser-Based Person Tracking at Feet and Upper-Body Height ...... 277 Konrad Schenk, Markus Eisenbach, Alexander Kolarow, and Horst-Michael Gross

Refinements of Restricted Higher-Order Anti-Unification for Heuristic-Driven Theory Projection ...... 289 Martin Schmidt, Helmar Gust, Kai-Uwe K¨uhnberger, and Ulf Krumnack

Linkless Normal Form for ALC Concepts and TBoxes ...... 301 Claudia Schon

Shape Retrieval with Qualitative Relations: The Influence of Part-Order and Approximation Precision on Retrieval Performance and Computational Effort ...... 313 Arne Schuldt

Classification of Semantic Concepts to Support the Analysis of the Inter-cultural Visual Repertoires of TV News Reviews ...... 325 Martin Stommel, Martina Duemcke, and Otthein Herzog

Shaking Hands in Latent Space: Modeling Emotional Interactions with Gaussian Process Latent Variable Models ...... 330 Nick Taubert, Dominik Endres, Andrea Christensen, and Martin A. Giese

Value-Difference Based Exploration: Adaptive Control between Epsilon-Greedy and Softmax ...... 335 Michel Tokic and G¨unther Palm

Calculating Meeting Points for Multi User Pedestrian Navigation Systems ...... 347 Bjoern Zenker and Alexander Muench

Algorithmic Debugging to Support Cognitive Diagnosis in Tutoring Systems ...... 357 Claus Zinn

Author Index ...... 369