Improvements on "Fast space-variant elliptical filtering using box splines"

Abstract: It is well-known that box filters can be efficiently computed using pre-integrations and local finite-differences [Crow1984,Heckbert1986,Viola2001]. By generalizing this idea and by combining it with a non-standard variant of the Central Limit Theorem, a constant-time or O(1) algorithm was proposed in [Chaudhury2010] that allowed one to perform space-variant filtering using Gaussian-like kernels. The algorithm was based on the observation that both isotropic and anisotropic Gaussians could be approximated using certain bivariate splines called box splines. The attractive feature of the algorithm was that it allowed one to continuously control the shape and size (covariance) of the filter, and that it had a fixed computational cost per pixel, irrespective of the size of the filter. The algorithm, however, offered a limited control on the covariance and accuracy of the Gaussian approximation. In this work, we propose some improvements by appropriately modifying the algorithm in [Chaudhury2010].


A Complexity Separation Between the Cache-Coherent and Distributed Shared Memory Models

Abstract: We consider asynchronous multiprocessor systems where processes communicate by accessing shared memory. Exchange of information among processes in such a multiprocessor necessitates costly memory accesses called \emph{remote memory references} (RMRs), which generate communication on the interconnect joining processors and main memory. In this paper we compare two popular shared memory architecture models, namely the \emph{cache-coherent} (CC) and \emph{distributed shared memory} (DSM) models, in terms of their power for solving synchronization problems efficiently with respect to RMRs. The particular problem we consider entails one process sending a "signal" to a subset of other processes. We show that a variant of this problem can be solved very efficiently with respect to RMRs in the CC model, but not so in the DSM model, even when we consider amortized RMR complexity. To our knowledge, this is the first separation in terms of amortized RMR complexity between the CC and DSM models. It is also the first separation in terms of RMR complexity (for asynchronous systems) that does not rely in any way on wait-freedom---the requirement that a process makes progress in a bounded number of its own steps.


Improving the scalability of parallel N-body applications with an event driven constraint based execution model

Abstract: The scalability and efficiency of graph applications are significantly constrained by conventional systems and their supporting programming models. Technology trends like multicore, manycore, and heterogeneous system architectures are introducing further challenges and possibilities for emerging application domains such as graph applications. This paper explores the space of effective parallel execution of ephemeral graphs that are dynamically generated using the Barnes-Hut algorithm to exemplify dynamic workloads. The workloads are expressed using the semantics of an Exascale computing execution model called ParalleX. For comparison, results using conventional execution model semantics are also presented. We find improved load balancing during runtime and automatic parallelism discovery improving efficiency using the advanced semantics for Exascale computing.


An Application Driven Analysis of the ParalleX Execution Model

Abstract: Exascale systems, expected to emerge by the end of the next decade, will require the exploitation of billion-way parallelism at multiple hierarchical levels in order to achieve the desired sustained performance. The task of assessing future machine performance is approached by identifying the factors which currently challenge the scalability of parallel applications. It is suggested that the root cause of these challenges is the incoherent coupling between the current enabling technologies, such as Non-Uniform Memory Access of present multicore nodes equipped with optional hardware accelerators and the decades older execution model, i.e., the Communicating Sequential Processes (CSP) model best exemplified by the message passing interface (MPI) application programming interface. A new execution model, ParalleX, is introduced as an alternative to the CSP model. In this paper, an overview of the ParalleX execution model is presented along with details about a ParalleX-compliant runtime system implementation called High Performance ParalleX (HPX). Scaling and performance results for an adaptive mesh refinement numerical relativity application developed using HPX are discussed. The performance results of this HPX-based application are compared with a counterpart MPI-based mesh refinement code. The overheads associated with HPX are explored and hardware solutions are introduced for accelerating the runtime system.


A Market for Air Traffic Flow Management

Abstract: The two somewhat conflicting requirements of efficiency and fairness make ATFM an unsatisfactorily solved problem, despite its overwhelming importance. In this paper, we present an economics motivated solution that is based on the notion of a free market. Our contention is that in fact the airlines themselves are the best judge of how to achieve efficiency and our market-based solution gives them the ability to pay, at the going rate, to buy away the desired amount of delay on a per flight basis. The issue of fairness is simply finessed away by our solution -- whoever pays gets smaller delays. We show how our solution has the potential of enabling travelers from a large spectrum of affordability and punctuality requirements to achieve an end that is most desirable to them. Our market model is particularly simple, requiring only one parameter per flight from the airline company. Furthermore, we show that it admits a combinatorial, strongly polynomial algorithm for computing an equilibrium landing schedule and prices.


Noise Tolerance under Risk Minimization

Abstract: In this paper we explore noise tolerant learning of classifiers. We formulate the problem as follows. We assume that there is an ${\bf unobservable}$ training set which is noise-free. The actual training set given to the learning algorithm is obtained from this ideal data set by corrupting the class label of each example. The probability that the class label of an example is corrupted is a function of the feature vector of the example. This would account for most kinds of noisy data one encounters in practice. We say that a learning method is noise tolerant if the classifiers learnt with the ideal noise-free data and with noisy data, both have the same classification accuracy on the noise-free data. In this paper we analyze the noise tolerance properties of risk minimization (under different loss functions), which is a generic method for learning classifiers. We show that risk minimization under 0-1 loss function has impressive noise tolerance properties and that under squared error loss is tolerant only to uniform noise; risk minimization under other loss functions is not noise tolerant. We conclude the paper with some discussion on implications of these theoretical results.


Minimum-Energy All-to-All Multicasting in Multi-hop Wireless Networks

Abstract: Designing energy-efficient all-to-all multicasting protocols is of of great importance for multi-hop wireless networks such as wireless sensor networks and wireless ad hoc networks. In an all-to-all multicast session, there exists a set of wireless destination nodes, and each destination node needs to send some data packets to all other destination nodes. We consider the problem of building a shared multicast tree spanning the destination nodes such that the total energy consumption of realizing an all-to-all multicast session using the shared multicast tree is minimized. Since building such a multicast tree has been proved to be NP-complete, we provide both centralized and distributed approximation algorithms with provable approximation ratios for it. When the transmission power of each wireless node is fixed, our centralized and distributed algorithms have the approximation ratios of $4ln(\Delta+1)+7$ and 13, respectively, where $\Delta$ is the maximum node degree in the network. When the transmission power of each wireless node is adjustable, both of our centralized and distributed algorithms have the constant approximation ratio of 145.


Complexity of Model Checking Recursion Schemes for Fragments of the Modal Mu-Calculus

Abstract: Ong has shown that the modal mu-calculus model checking problem (equivalently, the alternating parity tree automaton (APT) acceptance problem) of possibly-infinite ranked trees generated by order-n recursion schemes is n-EXPTIME complete. We consider two subclasses of APT and investigate the complexity of the respective acceptance problems. The main results are that, for APT with a single priority, the problem is still n-EXPTIME complete; whereas, for APT with a disjunctive transition function, the problem is (n-1)-EXPTIME complete. This study was motivated by Kobayashi's recent work showing that the resource usage verification of functional programs can be reduced to the model checking of recursion schemes. As an application, we show that the resource usage verification problem is (n-1)-EXPTIME complete.


Parameterized Matching in the Streaming Model

Abstract: We study the problem of parameterized matching in a stream where we want to output matches between a pattern of length m and the last m symbols of the stream before the next symbol arrives. Parameterized matching is a natural generalisation of exact matching where an arbitrary one-to-one relabelling of pattern symbols is allowed. We show how this problem can be solved in constant time per arriving stream symbol and sublinear, near optimal space with high probability. Our results are surprising and important: it has been shown that almost no streaming pattern matching problems can be solved (not even randomised) in less than Theta(m) space, with exact matching as the only known problem to have a sublinear, near optimal space solution. Here we demonstrate that a similar sublinear, near optimal space solution is achievable for an even more challenging problem. The proof is considerably more complex than that for exact matching.


Aut\'omatas celulares elementales aplicados a la encriptaci\'on de datos

Abstract: For data ciphering a key is usually needed as a base, so it is indispensable to have one that is strong and trustworthy, so as to keep others from accessing the ciphered data. This requires a pseudo-random number generator that would provide such a key, so it is proposed to work with cellular automata helped along with \emph{Mathematica} to check that the rules and to what level are actually pseudo-random. This project centers on the examination of possible mathematical rules, analyzing their characteristics in a detailed manner, and submitting them to a set of randomness tests with the end of knowing which of them will enable us to obtain those pseudo-random numbers that will conform the key for data ciphering.


Optimal Foraging of Renewable Resources

Abstract: Consider a team of agents in the plane searching for and visiting target points that appear in a bounded environment according to a stochastic renewal process with a known absolutely continuous spatial distribution. Agents must detect targets with limited-range onboard sensors. It is desired to minimize the expected waiting time between the appearance of a target point, and the instant it is visited. When the sensing radius is small, the system time is dominated by time spent searching, and it is shown that the optimal policy requires the agents to search a region at a relative frequency proportional to the square root of its renewal rate. On the other hand, when targets appear frequently, the system time is dominated by time spent servicing known targets, and it is shown that the optimal policy requires the agents to service a region at a relative frequency proportional to the cube root of its renewal rate. Furthermore, the presented algorithms in this case recover the optimal performance achieved by agents with full information of the environment. Simulation results verify the theoretical performance of the algorithms.


Squiggle - A Glyph Recognizer for Gesture Input

Abstract: Squiggle is a template-based glyph recognizer in the lineage of `$1 Recognizer' and `Protractor'. It seeks a good fit linear affine mapping between the input and template glyphs which are represented as a list of milestone points along the glyph path. The algorithm can recognize input glyphs invariant of rotation, scaling, skew, and reflection symmetries. In practice the algorithm is fast and robust enough to recognize user-generated glyphs as they are being drawn in real time, and to project `shadows' of the matching templates as feedback.


Online Sum-Radii Clustering

Abstract: In Online Sum-Radii Clustering, n demand points arrive online and must be irrevocably assigned to a cluster upon arrival. The cost of each cluster is the sum of a fixed opening cost and its radius, and the objective is to minimize the total cost of the clusters opened by the algorithm. We show that the deterministic competitive ratio of Online Sum-Radii Clustering for general metric spaces is \Theta(\log n), where the upper bound follows from a primal-dual algorithm and holds for general metric spaces, and the lower bound is valid for ternary Hierarchically Well-Separated Trees (HSTs) and for the Euclidean plane. Combined with the results of (Csirik et al., MFCS 2010), this result demonstrates that the deterministic competitive ratio of Online Sum-Radii Clustering changes abruptly, from constant to logarithmic, when we move from the line to the plane. We also show that Online Sum-Radii Clustering in metric spaces induced by HSTs is closely related to the Parking Permit problem introduced by (Meyerson, FOCS 2005). Exploiting the relation to Parking Permit, we obtain a lower bound of \Omega(\log\log n) on the randomized competitive ratio of Online Sum-Radii Clustering in tree metrics. Moreover, we present a simple randomized O(\log n)-competitive algorithm, and a deterministic O(\log\log n)-competitive algorithm for the fractional version of the problem.


Self-Organization of Wireless Ad Hoc Networks as Small Worlds Using Long Range Directional Beams

Abstract: We study how long range directional beams can be used for self-organization of a wireless network to exhibit small world properties. Using simulation results for randomized beamforming as a guideline, we identify crucial design issues for algorithm design. Subsequently, we propose an algorithm for deterministic creation of small worlds. We define a new centrality measure that estimates the structural importance of nodes based on traffic flow in the network, which is used to identify the optimum nodes for beamforming. This results in significant reduction in path length while maintaining connectivity.


Higher-Order Markov Tag-Topic Models for Tagged Documents and Images

Abstract: This paper studies the topic modeling problem of tagged documents and images. Higher-order relations among tagged documents and images are major and ubiquitous characteristics, and play positive roles in extracting reliable and interpretable topics. In this paper, we propose the tag-topic models (TTM) to depict such higher-order topic structural dependencies within the Markov random field (MRF) framework. First, we use the novel factor graph representation of latent Dirichlet allocation (LDA)-based topic models from the MRF perspective, and present an efficient loopy belief propagation (BP) algorithm for approximate inference and parameter estimation. Second, we propose the factor hypergraph representation of TTM, and focus on both pairwise and higher-order relation modeling among tagged documents and images. Efficient loopy BP algorithm is developed to learn TTM, which encourages the topic labeling smoothness among tagged documents and images. Extensive experimental results confirm the incorporation of higher-order relations to be effective in enhancing the overall topic modeling performance, when compared with current state-of-the-art topic models, in many text and image mining tasks of broad interests such as word and link prediction, document classification, and tag recommendation.


A Survey on Security Issues in Cloud Computing

Abstract: Cloud Computing holds the potential to eliminate the requirements for setting up of high-cost computing infrastructure for the IT-based solutions and services that the industry uses. It promises to provide a flexible IT architecture, accessible through internet for lightweight portable devices. This would allow many-fold increase in the capacity or capabilities of the existing and new software. In a cloud computing environment, the entire data reside over a set of networked resources, enabling the data to be accessed through virtual machines. Since these data centers may lie in any corner of the world beyond the reach and control of users, there are multifarious security and privacy challenges that need to be understood and taken care of. Also, one can never deny the possibility of a server breakdown that has been witnessed, rather quite often in the recent times. There are various issues that need to be dealt with respect to security and privacy in a cloud computing scenario. This extensive survey paper aims to elaborate and analyze the numerous unresolved issues threatening the Cloud computing adoption and diffusion affecting the various stake-holders linked to it.


Matrix Code

Abstract: Matrix Code gives imperative programming a mathematical semantics and heuristic power comparable in quality to functional and logic programming. A program in Matrix Code is developed incrementally from a specification in pre/post-condition form. The computations of a code matrix are characterized by powers of the matrix when it is interpreted as a transformation in a space of vectors of logical conditions. Correctness of a code matrix is expressed in terms of a fixpoint of the transformation. The abstract machine for Matrix Code is the dual-state machine, which we present as a variant of the classical finite-state machine.


Optimal Precoding Design and Power Allocation for Decentralized Detection of Deterministic Signals

Abstract: We consider a decentralized detection problem in a power-constrained wireless sensor networks (WSNs), in which a number of sensor nodes collaborate to detect the presence of a deterministic vector signal. The signal to be detected is assumed known \emph{a priori}. Given a constraint on the total amount of transmit power, we investigate the optimal linear precoding design for each sensor node. More specifically, in order to achieve the best detection performance, shall sensor nodes transmit their raw data to the fusion center (FC), or transmit compressed versions of their original data? The optimal power allocation among sensors is studied as well. Also, assuming a fixed total transmit power, we examine how the detection performance behaves with the number of sensors in the network. A new concept "detection outage" is proposed to quantify the reliability of the overall detection system. Finally, decentralized detection with unknown signals is studied. Numerical results are conducted to corroborate our theoretical analysis and to illustrate the performance of the proposed algorithm.


Posterior Mean Super-resolution with a Causal Gaussian Markov Random Field Prior

Abstract: We propose a Bayesian image super-resolution (SR) method with a causal Gaussian Markov random field (MRF) prior. SR is a technique to estimate a spatially high-resolution image from given multiple low-resolution images. An MRF model with the line process supplies a preferable prior for natural images with edges. We improve the existing image transformation model, the compound MRF model, and its hyperparameter prior model. We also derive the optimal estimator -- not the joint maximum a posteriori (MAP) or marginalized maximum likelihood (ML), but the posterior mean (PM) -- from the objective function of the L2-norm (mean square error) -based peak signal-to-noise ratio (PSNR). Point estimates such as MAP and ML are generally not stable in ill-posed high-dimensional problems because of overfitting, while PM is a stable estimator because all the parameters in the model are evaluated as distributions. The estimator is numerically determined by using variational Bayes. Variational Bayes is a widely used method that approximately determines a complicated posterior distribution, but it is generally hard to use because it needs the conjugate prior. We solve this problem with simple Taylor approximations. Experimental results have shown that the proposed method is more accurate or comparable to existing methods.


Static Dependency Pair Method based on Strong Computability for Higher-Order Rewrite Systems

Abstract: Higher-order rewrite systems (HRSs) and simply-typed term rewriting systems (STRSs) are computational models of functional programs. We recently proposed an extremely powerful method, the static dependency pair method, which is based on the notion of strong computability, in order to prove termination in STRSs. In this paper, we extend the method to HRSs. Since HRSs include \lambda-abstraction but STRSs do not, we restructure the static dependency pair method to allow \lambda-abstraction, and show that the static dependency pair method also works well on HRSs without new restrictions.


On the Simulation of Time-Triggered Systems on a Chip with BIP

Abstract: In this report, we present functional models for software and hardware components of Time-Triggered Systems on a Chip (TTSoC). These are modeled in the asynchronous component based language BIP. We demonstrate the usability of our components for simulation of software which is developed for the TTSoC. Our software comprises services and an application part. Our approach allows us to simulate and validate aspects of the software system at an early stage in the development process and without the need to have the TTSoC hardware at hand.


Detecting Spurious Counterexamples Efficiently in Abstract Model Checking

Abstract: Abstraction is one of the most important strategies for dealing with the state space explosion problem in model checking. In the abstract model, the state space is largely reduced, however, a counterexample found in such a model may not be a real counterexample in the concrete model. Accordingly, the abstract model needs to be further refined. How to check whether or not a reported counterexample is spurious is a key problem in the abstraction-refinement loop. In this paper, a formal definition for spurious path is given. Based on it, efficient algorithms for detecting spurious counterexamples are proposed.


Shared Memory Concurrent System Verification using Kronecker Algebra

Abstract: The verification of multithreaded software is still a challenge. This comes mainly from the fact that the number of thread interleavings grows exponentially in the number of threads. The idea that thread interleavings can be studied with a matrix calculus is a novel approach in this research area. Our sparse matrix representations of the program are manipulated using a lazy implementation of Kronecker algebra. One goal is the generation of a data structure called Concurrent Program Graph (CPG) which describes all possible interleavings and incorporates synchronization while preserving completeness. We prove that CPGs in general can be represented by sparse adjacency matrices. Thus the number of entries in the matrices is linear in their number of lines. Hence efficient algorithms can be applied to CPGs. In addition, due to synchronization only very small parts of the resulting matrix are actually needed, whereas the rest is unreachable in terms of automata. Thanks to the lazy implementation of the matrix operations the unreachable parts are never calculated. This speeds up processing significantly and shows that this approach is very promising. Various applications including data flow analysis can be performed on CPGs. Furthermore, the structure of the matrices can be used to prove properties of the underlying program for an arbitrary number of threads. For example, deadlock freedom is proved for a large class of programs.


On the relationship between classes P and NP

Abstract: In this paper we discusses the relationship between the known classes P and NP. We show that the difficulties in solving problem "P versus NP" have methodological in nature. An algorithm for solving any problem is sensitive to even small changes in its formulation. As we will shown in the paper, these difficulties are exactly in the formulation of some problems of the class NP.


Gaming security by obscurity

Abstract: Shannon sought security against the attacker with unlimited computational powers: *if an information source conveys some information, then Shannon's attacker will surely extract that information*. Diffie and Hellman refined Shannon's attacker model by taking into account the fact that the real attackers are computationally limited. This idea became one of the greatest new paradigms in computer science, and led to modern cryptography. Shannon also sought security against the attacker with unlimited logical and observational powers, expressed through the maxim that "the enemy knows the system". This view is still endorsed in cryptography. The popular formulation, going back to Kerckhoffs, is that "there is no security by obscurity", meaning that the algorithms cannot be kept obscured from the attacker, and that security should only rely upon the secret keys. In fact, modern cryptography goes even further than Shannon or Kerckhoffs in tacitly assuming that *if there is an algorithm that can break the system, then the attacker will surely find that algorithm*. The attacker is not viewed as an omnipotent computer any more, but he is still construed as an omnipotent programmer. So the Diffie-Hellman step from unlimited to limited computational powers has not been extended into a step from unlimited to limited logical or programming powers. Is the assumption that all feasible algorithms will eventually be discovered and implemented really different from the assumption that everything that is computable will eventually be computed? The present paper explores some ways to refine the current models of the attacker, and of the defender, by taking into account their limited logical and programming powers. If the adaptive attacker actively queries the system to seek out its vulnerabilities, can the system gain some security by actively learning attacker's methods, and adapting to them?


A Regularity Measure for Context Free Grammars

Abstract: Parikh's theorem states that every Context Free Language (CFL) has the same Parikh image as that of a regular language. A finite state automaton accepting such a regular language is called a Parikh-equivalent automaton. In the worst case, the number of states in any non-deterministic Parikh-equivalent automaton is exponentially large in the size of the Context Free Grammar (CFG). We associate a regularity width d with a CFG that measures the closeness of the CFL with regular languages. The degree m of a CFG is one less than the maximum number of variable occurrences in the right hand side of any production. Given a CFG with n variables, we construct a Parikh-equivalent non-deterministic automaton whose number of states is upper bounded by a polynomial in $n (d^{2d(m+1)}), the degree of the polynomial being a small fixed constant. Our procedure is constructive and runs in time polynomial in the size of the automaton. In the terminology of parameterized complexity, we prove that constructing a Parikh-equivalent automaton for a given CFG is Fixed Parameter Tractable (FPT) when the degree m and regularity width d are parameters. We also give an example from program verification domain where the degree and regularity are small compared to the size of the grammar.


Approximating Edit Distance in Near-Linear Time

Abstract: We show how to compute the edit distance between two strings of length n up to a factor of 2^{\~O(sqrt(log n))} in n^(1+o(1)) time. This is the first sub-polynomial approximation algorithm for this problem that runs in near-linear time, improving on the state-of-the-art n^(1/3+o(1)) approximation. Previously, approximation of 2^{\~O(sqrt(log n))} was known only for embedding edit distance into l_1, and it is not known if that embedding can be computed in less than quadratic time.


Distributed sensor failure detection in sensor networks

Abstract: We investigate the problem of distributed sensors' failure detection in networks with a small number of defective sensors, whose measurements differ significantly from neighboring sensor measurements. Defective sensors are represented by non-zero values in binary sparse signals. We build on the sparse nature of the binary sensor failure signals and propose a new distributed detection algorithm based on Group Testing (GT). The distributed GT algorithm estimates the set of defective sensors from a small number of linearly independent binary messages exchanged by the sensors. The distributed GT algorithm uses a low complexity distance decoder that is robust to noisy messages. We first consider networks with only one defective sensor and determine the minimal number of linearly independent messages needed for detection of the defective sensor with high probability. We then extend our study to the detection of multiple defective sensors by modifying appropriately the message exchange protocol and the decoding procedure. We show through experimentation that, for small and medium sized networks, the number of messages required for successful detection is actually smaller than the minimal number computed in the analysis. Simulations demonstrate that the proposed method outperforms methods based on random walk measurements collection in terms of detection performance and convergence rate. Finally, the proposed method is resilient to network dynamics due to the effective gossip-based message dissemination protocol.


Energy-Aware Load Balancing in Content Delivery Networks

Abstract: Internet-scale distributed systems such as content delivery networks (CDNs) operate hundreds of thousands of servers deployed in thousands of data center locations around the globe. Since the energy costs of operating such a large IT infrastructure are a significant fraction of the total operating costs, we argue for redesigning CDNs to incorporate energy optimizations as a first-order principle. We propose techniques to turn off CDN servers during periods of low load while seeking to balance three key design goals: maximize energy reduction, minimize the impact on client-perceived service availability (SLAs), and limit the frequency of on-off server transitions to reduce wear-and-tear and its impact on hardware reliability. We propose an optimal offline algorithm and an online algorithm to extract energy savings both at the level of local load balancing within a data center and global load balancing across data centers. We evaluate our algorithms using real production workload traces from a large commercial CDN. Our results show that it is possible to reduce the energy consumption of a CDN by more than 55% while ensuring a high level of availability that meets customer SLA requirements and incurring an average of one on-off transition per server per day. Further, we show that keeping even 10% of the servers as hot spares helps absorb load spikes due to global flash crowds with little impact on availability SLAs. Finally, we show that redistributing load across proximal data centers can enhance service availability significantly, but has only a modest impact on energy savings.


The Deterministic Part of IPC-4: An Overview

Abstract: We provide an overview of the organization and results of the deterministic part of the 4th International Planning Competition, i.e., of the part concerned with evaluating systems doing deterministic planning. IPC-4 attracted even more competing systems than its already large predecessors, and the competition event was revised in several important respects. After giving an introduction to the IPC, we briefly explain the main differences between the deterministic part of IPC-4 and its predecessors. We then introduce formally the language used, called PDDL2.2 that extends PDDL2.1 by derived predicates and timed initial literals. We list the competing systems and overview the results of the competition. The entire set of data is far too large to be presented in full. We provide a detailed summary; the complete data is available in an online appendix. We explain how we awarded the competition prizes.


Deterministic Feature Selection for $k$-means Clustering

Abstract: We study feature selection for $k$-means clustering. Although the literature contains many methods with good empirical performance, algorithms with provable theoretical behavior have only recently been developed. Unfortunately, these algorithms are randomized and fail with, say, a constant probability. We address this issue by presenting a deterministic feature selection algorithm for k-means with theoretical guarantees. At the heart of our algorithm lies a deterministic method for decompositions of the identity.


PDDL2.1 - The Art of the Possible? Commentary on Fox and Long

Abstract: PDDL2.1 was designed to push the envelope of what planning algorithms can do, and it has succeeded. It adds two important features: durative actions,which take time (and may have continuous effects); and objective functions for measuring the quality of plans. The concept of durative actions is flawed; and the treatment of their semantics reveals too strong an attachment to the way many contemporary planners work. Future PDDL innovators should focus on producing a clean semantics for additions to the language, and let planner implementers worry about coupling their algorithms to problems expressed in the latest version of the language.


The Case for Durative Actions: A Commentary on PDDL2.1

Abstract: The addition of durative actions to PDDL2.1 sparked some controversy. Fox and Long argued that actions should be considered as instantaneous, but can start and stop processes. Ultimately, a limited notion of durative actions was incorporated into the language. I argue that this notion is still impoverished, and that the underlying philosophical position of regarding durative actions as being a shorthand for a start action, process, and stop action ignores the realities of modelling and execution for complex systems.


Queries mining for efficient routing in P2P communities

Abstract: Peer-to-peer (P2P) computing is currently attracting enormous attention. In P2P systems a very large number of autonomous computing nodes (the peers) pool together their resources and rely on each other for data and services. Peer-to-peer (P2P) Data-sharing systems now generate a significant portion of Internet traffic. Examples include P2P systems for network storage, web caching, searching and indexing of relevant documents and distributed network-threat analysis. Requirements for widely distributed information systems supporting virtual organizations have given rise to a new category of P2P systems called schema-based. In such systems each peer exposes its own schema and the main objective is the efficient search across the P2P network by processing each incoming query without overly consuming bandwidth. The usability of these systems depends on effective techniques to find and retrieve data; however, efficient and effective routing of content-based queries is a challenging problem in P2P networks. This work was attended as an attempt to motivate the use of mining algorithms and hypergraphs context to develop two different methods that improve significantly the efficiency of P2P communications. The proposed query routing methods direct the query to a set of relevant peers in such way as to avoid network traffic and bandwidth consumption. We compare the performance of the two proposed methods with the baseline one and our experimental results prove that our proposed methods generate impressive levels of performance and scalability.


Engineering a Conformant Probabilistic Planner

Abstract: We present a partial-order, conformant, probabilistic planner, Probapop which competed in the blind track of the Probabilistic Planning Competition in IPC-4. We explain how we adapt distance based heuristics for use with probabilistic domains. Probapop also incorporates heuristics based on probability of success. We explain the successes and difficulties encountered during the design and implementation of Probapop.


Cooperative Information Sharing to Improve Distributed Learning in Multi-Agent Systems

Abstract: Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on estimates of the states and actions of other agents that are typically learnt using some form of machine learning algorithm. Nevertheless, many of these approaches fail to provide an actual means by which the necessary information is made available so that the estimates can be learnt. To this end, we argue that cooperative communication of state information between agents is one such mechanism. However, in a dynamically changing environment, the accuracy and timeliness of this communicated information determine the fidelity of the learned estimates and the usefulness of the actions taken based on these. Given this, we propose a novel information-sharing protocol, post-task-completion sharing, for the distribution of state information. We then show, through a formal analysis, the improvement in the quality of estimates produced using our strategy over the widely used protocol of sharing information between nearest neighbours. Moreover, communication heuristics designed around our information-sharing principle are subjected to empirical evaluation along with other benchmark strategies (including Littmans Q-routing and Stones TPOT-RL) in a simulated call-routing application. These studies, conducted across a range of environmental settings, show that, compared to the different benchmarks used, our strategy generates an improvement of up to 60% in the call connection rate; of more than 1000% in the ability to connect long-distance calls; and incurs as low as 0.25 of the message overhead.


Where 'Ignoring Delete Lists' Works: Local Search Topology in Planning Benchmarks

Abstract: Between 1998 and 2004, the planning community has seen vast progress in terms of the sizes of benchmark examples that domain-independent planners can tackle successfully. The key technique behind this progress is the use of heuristic functions based on relaxing the planning task at hand, where the relaxation is to assume that all delete lists are empty. The unprecedented success of such methods, in many commonly used benchmark examples, calls for an understanding of what classes of domains these methods are well suited for. In the investigation at hand, we derive a formal background to such an understanding. We perform a case study covering a range of 30 commonly used STRIPS and ADL benchmark domains, including all examples used in the first four international planning competitions. We *prove* connections between domain structure and local search topology -- heuristic cost surface properties -- under an idealized version of the heuristic functions used in modern planners. The idealized heuristic function is called h^+, and differs from the practically used functions in that it returns the length of an *optimal* relaxed plan, which is NP-hard to compute. We identify several key characteristics of the topology under h^+, concerning the existence/non-existence of unrecognized dead ends, as well as the existence/non-existence of constant upper bounds on the difficulty of escaping local minima and benches. These distinctions divide the (set of all) planning domains into a taxonomy of classes of varying h^+ topology. As it turns out, many of the 30 investigated domains lie in classes with a relatively easy topology. Most particularly, 12 of the domains lie in classes where FFs search algorithm, provided with h^+, is a polynomial solving mechanism. We also present results relating h^+ to its approximation as implemented in FF. The behavior regarding dead ends is provably the same. We summarize the results of an empirical investigation showing that, in many domains, the topological qualities of h^+ are largely inherited by the approximation. The overall investigation gives a rare example of a successful analysis of the connections between typical-case problem structure, and search performance. The theoretical investigation also gives hints on how the topological phenomena might be automatically recognizable by domain analysis techniques. We outline some preliminary steps we made into that direction.


Binary Encodings of Non-binary Constraint Satisfaction Problems: Algorithms and Experimental Results

Abstract: A non-binary Constraint Satisfaction Problem (CSP) can be solved directly using extended versions of binary techniques. Alternatively, the non-binary problem can be translated into an equivalent binary one. In this case, it is generally accepted that the translated problem can be solved by applying well-established techniques for binary CSPs. In this paper we evaluate the applicability of the latter approach. We demonstrate that the use of standard techniques for binary CSPs in the encodings of non-binary problems is problematic and results in models that are very rarely competitive with the non-binary representation. To overcome this, we propose specialized arc consistency and search algorithms for binary encodings, and we evaluate them theoretically and empirically. We consider three binary representations; the hidden variable encoding, the dual encoding, and the double encoding. Theoretical and empirical results show that, for certain classes of non-binary constraints, binary encodings are a competitive option, and in many cases, a better one than the non-binary representation.


Distributed Reasoning in a Peer-to-Peer Setting: Application to the Semantic Web

Abstract: In a peer-to-peer inference system, each peer can reason locally but can also solicit some of its acquaintances, which are peers sharing part of its vocabulary. In this paper, we consider peer-to-peer inference systems in which the local theory of each peer is a set of propositional clauses defined upon a local vocabulary. An important characteristic of peer-to-peer inference systems is that the global theory (the union of all peer theories) is not known (as opposed to partition-based reasoning systems). The main contribution of this paper is to provide the first consequence finding algorithm in a peer-to-peer setting: DeCA. It is anytime and computes consequences gradually from the solicited peer to peers that are more and more distant. We exhibit a sufficient condition on the acquaintance graph of the peer-to-peer inference system for guaranteeing the completeness of this algorithm. Another important contribution is to apply this general distributed reasoning setting to the setting of the Semantic Web through the Somewhere semantic peer-to-peer data management system. The last contribution of this paper is to provide an experimental analysis of the scalability of the peer-to-peer infrastructure that we propose, on large networks of 1000 peers.


Dynamic Local Search for the Maximum Clique Problem

Abstract: In this paper, we introduce DLS-MC, a new stochastic local search algorithm for the maximum clique problem. DLS-MC alternates between phases of iterative improvement, during which suitable vertices are added to the current clique, and plateau search, during which vertices of the current clique are swapped with vertices not contained in the current clique. The selection of vertices is solely based on vertex penalties that are dynamically adjusted during the search, and a perturbation mechanism is used to overcome search stagnation. The behaviour of DLS-MC is controlled by a single parameter, penalty delay, which controls the frequency at which vertex penalties are reduced. We show empirically that DLS-MC achieves substantial performance improvements over state-of-the-art algorithms for the maximum clique problem over a large range of the commonly used DIMACS benchmark instances.


Hypothesize and Bound: A Computational Focus of Attention Mechanism for Simultaneous 3D Shape Reconstruction, Pose Estimation and Classification from a Single 2D Image

Abstract: This article presents a mathematical framework to simultaneously tackle the problems of 3D reconstruction, pose estimation and object classification, from a single 2D image. In sharp contrast with state of the art methods that rely primarily on 2D information and solve each of these three problems separately or iteratively, we propose a mathematical framework that incorporates prior "knowledge" about the 3D shapes of different object classes and solves these problems jointly and simultaneously, using a hypothesize-and-bound (H&B) algorithm. In the proposed H&B algorithm one hypothesis is defined for each possible pair [object class, object pose], and the algorithm selects the hypothesis H that maximizes a function L(H) encoding how well each hypothesis "explains" the input image. To find this maximum efficiently, the function L(H) is not evaluated exactly for each hypothesis H, but rather upper and lower bounds for it are computed at a much lower cost. In order to obtain bounds for L(H) that are tight yet inexpensive to compute, we extend the theory of shapes described in [14] to handle projections of shapes. This extension allows us to define a probabilistic relationship between the prior knowledge given in 3D and the 2D input image. This relationship is derived from first principles and is proven to be the only relationship having the properties that we intuitively expect from a "projection." In addition to the efficiency and optimality characteristics of H&B algorithms, the proposed framework has the desirable property of integrating information in the 2D image with information in the 3D prior to estimate the optimal reconstruction. While this article focuses primarily on the problem mentioned above, we believe that the theory presented herein has multiple other potential applications.


Representing Conversations for Scalable Overhearing

Abstract: Open distributed multi-agent systems are gaining interest in the academic community and in industry. In such open settings, agents are often coordinated using standardized agent conversation protocols. The representation of such protocols (for analysis, validation, monitoring, etc) is an important aspect of multi-agent applications. Recently, Petri nets have been shown to be an interesting approach to such representation, and radically different approaches using Petri nets have been proposed. However, their relative strengths and weaknesses have not been examined. Moreover, their scalability and suitability for different tasks have not been addressed. This paper addresses both these challenges. First, we analyze existing Petri net representations in terms of their scalability and appropriateness for overhearing, an important task in monitoring open multi-agent systems. Then, building on the insights gained, we introduce a novel representation using Colored Petri nets that explicitly represent legal joint conversation states and messages. This representation approach offers significant improvements in scalability and is particularly suitable for overhearing. Furthermore, we show that this new representation offers a comprehensive coverage of all conversation features of FIPA conversation standards. We also present a procedure for transforming AUML conversation protocol diagrams (a standard human-readable representation), to our Colored Petri net representation.


Improving Heuristics Through Relaxed Search - An Analysis of TP4 and HSP*a in the 2004 Planning Competition

Abstract: The hm admissible heuristics for (sequential and temporal) regression planning are defined by a parameterized relaxation of the optimal cost function in the regression search space, where the parameter m offers a trade-off between the accuracy and computational cost of theheuristic. Existing methods for computing the hm heuristic require time exponential in m, limiting them to small values (m andlt= 2). The hm heuristic can also be viewed as the optimal cost function in a relaxation of the search space: this paper presents relaxed search, a method for computing this function partially by searching in the relaxed space. The relaxed search method, because it computes hm only partially, is computationally cheaper and therefore usable for higher values of m. The (complete) hm heuristic is combined with partial hm heuristics, for m = 3,..., computed by relaxed search, resulting in a more accurate heuristic. This use of the relaxed search method to improve on the hm heuristic is evaluated by comparing two optimal temporal planners: TP4, which does not use it, and HSP*a, which uses it but is otherwise identical to TP4. The comparison is made on the domains used in the 2004 International Planning Competition, in which both planners participated. Relaxed search is found to be cost effective in some of these domains, but not all. Analysis reveals a characterization of the domains in which relaxed search can be expected to be cost effective, in terms of two measures on the original and relaxed search spaces. In the domains where relaxed search is cost effective, expanding small states is computationally cheaper than expanding large states and small states tend to have small successor states.


Cooperative and Distributed Localization for Wireless Sensor Networks in Multipath Environments

Abstract: We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which allows sensors to cooperatively self-localize with respect to one single anchor in a multihop network. The algorithm has low overhead and is scalable. Simulations show that although the network is loopy, the proposed algorithm converges, and achieves good localization accuracy.


Approximation Complexity of Complex-Weighted Degree-Two Counting Constraint Satisfaction Problems

Abstract: Constraint satisfaction problems have been studied in numerous fields with practical and theoretical interests. In recent years, major breakthroughs have been made in a study of counting constraint satisfaction problems (or #CSPs). In particular, a computational complexity classification of bounded-degree #CSPs has been discovered for all degrees except for two, where the "degree" of an input instance is the maximal number of times that each input variable appears in a given set of constraints. Despite the efforts of recent studies, however, a complexity classification of degree-2 #CSPs has eluded from our understandings. This paper challenges this open problem and gives its partial solution by applying two novel proof techniques--T_{2}-constructibility and parametrized symmetrization--which are specifically designed to handle "arbitrary" constraints under randomized approximation-preserving reductions. We partition entire constraints into four sets and we classify the approximation complexity of all degree-2 #CSPs whose constraints are drawn from two of the four sets into two categories: problems computable in polynomial-time or problems that are at least as hard as #SAT. Our proof exploits a close relationship between complex-weighted degree-2 #CSPs and Holant problems, which are a natural generalization of complex-weighted #CSPs.


Object-oriented semantics of English in natural language understanding system

Abstract: A new approach to the problem of natural language understanding is proposed. The knowledge domain under consideration is the social behavior of people. English sentences are translated into set of predicates of a semantic database, which describe persons, occupations, organizations, projects, actions, events, messages, machines, things, animals, location and time of actions, relations between objects, thoughts, cause-and-effect relations, abstract objects. There is a knowledge base containing the description of semantics of objects (functions and structure), actions (motives and causes), and operations.


Lower Bounds on the Complexity of MSO1 Model-Checking

Abstract: One of the most important algorithmic meta-theorems is a famous result by Courcelle, which states that any graph problem definable in monadic second-order logic with edge-set quantifications (i.e., MSO2 model-checking) is decidable in linear time on any class of graphs of bounded tree-width. Recently, Kreutzer and Tazari proved a corresponding complexity lower-bound - that MSO2 model-checking is not even in XP wrt. the formula size as parameter for graph classes that are subgraph-closed and whose tree-width is poly-logarithmically unbounded. Of course, this is not an unconditional result but holds modulo a certain complexity-theoretic assumption, namely, the Exponential Time Hypothesis (ETH). In this paper we present a closely related result. We show that even MSO1 model-checking with a fixed set of vertex labels, but without edge-set quantifications, is not in XP wrt. the formula size as parameter for graph classes which are subgraph-closed and whose tree-width is poly-logarithmically unbounded unless the non-uniform ETH fails. In comparison to Kreutzer and Tazari; $(1)$ we use a stronger prerequisite, namely non-uniform instead of uniform ETH, to avoid the effectiveness assumption and the construction of certain obstructions used in their proofs; and $(2)$ we assume a different set of problems to be efficiently decidable, namely MSO1-definable properties on vertex labeled graphs instead of MSO2-definable properties on unlabeled graphs. Our result has an interesting consequence in the realm of digraph width measures: Strengthening the recent result, we show that no subdigraph-monotone measure can be "algorithmically useful", unless it is within a poly-logarithmic factor of undirected tree-width.


A decidable characterization of locally testable tree languages

Abstract: A regular tree language L is locally testable if membership of a tree in L depends only on the presence or absence of some fix set of neighborhoods in the tree. In this paper we show that it is decidable whether a regular tree language is locally testable. The decidability is shown for ranked trees and for unranked unordered trees.


R\'enyi Information Measures for Spectral Change Detection

Abstract: Change detection within an audio stream is an important task in several domains, such as classification and segmentation of a sound or of a music piece, as well as indexing of broadcast news or surveillance applications. In this paper we propose two novel methods for spectral change detection without any assumption about the input sound: they are both based on the evaluation of information measures applied to a time- frequency representation of the signal, and in particular to the spectrogram. The class of measures we consider, the R\'enyi entropies, are obtained by extending the Shannon entropy definition: a biasing of the spectrogram coefficients is realized through the dependence of such measures on a parameter, which allows refined results compared to those obtained with standard divergences. These methods provide a low computational cost and are well-suited as a support for higher level analysis, segmentation and classification algorithms.


On the control of the load increments for a proper description of multiple delamination in a domain decomposition framework

Abstract: In quasi-static nonlinear time-dependent analysis, the choice of the time discretization is a complex issue. The most basic strategy consists in determining a value of the load increment that ensures the convergence of the solution with respect to time on the base of preliminary simulations. In more advanced applications, the load increments can be controlled for instance by prescribing the number of iterations of the nonlinear resolution procedure, or by using an arc-length algorithm. These techniques usually introduce a parameter whose correct value is not easy to obtain. In this paper, an alternative procedure is proposed. It is based on the continuous control of the residual of the reference problem over time, whose measure is easy to interpret. This idea is applied in the framework of a multiscale domain decomposition strategy in order to perform 3D delamination analysis.


Models and Strategies for Variants of the Job Shop Scheduling Problem

Abstract: Recently, a variety of constraint programming and Boolean satisfiability approaches to scheduling problems have been introduced. They have in common the use of relatively simple propagation mechanisms and an adaptive way to focus on the most constrained part of the problem. In some cases, these methods compare favorably to more classical constraint programming methods relying on propagation algorithms for global unary or cumulative resource constraints and dedicated search heuristics. In particular, we described an approach that combines restarting, with a generic adaptive heuristic and solution guided branching on a simple model based on a decomposition of disjunctive constraints. In this paper, we introduce an adaptation of this technique for an important subclass of job shop scheduling problems (JSPs), where the objective function involves minimization of earliness/tardiness costs. We further show that our technique can be improved by adding domain specific information for one variant of the JSP (involving time lag constraints). In particular we introduce a dedicated greedy heuristic, and an improved model for the case where the maximal time lag is 0 (also referred to as no-wait JSPs).


Online Primal-Dual For Non-linear Optimization with Applications to Speed Scaling

Abstract: We reinterpret some online greedy algorithms for a class of nonlinear "load-balancing" problems as solving a mathematical program online. For example, we consider the problem of assigning jobs to (unrelated) machines to minimize the sum of the alpha^{th}-powers of the loads plus assignment costs (the online Generalized Assignment Problem); or choosing paths to connect terminal pairs to minimize the alpha^{th}-powers of the edge loads (online routing with speed-scalable routers). We give analyses of these online algorithms using the dual of the primal program as a lower bound for the optimal algorithm, much in the spirit of online primal-dual results for linear problems. We then observe that a wide class of uni-processor speed scaling problems (with essentially arbitrary scheduling objectives) can be viewed as such load balancing problems with linear assignment costs. This connection gives new algorithms for problems that had resisted solutions using the dominant potential function approaches used in the speed scaling literature, as well as alternate, cleaner proofs for other known results.


An Approximation of the Universal Intelligence Measure

Abstract: The Universal Intelligence Measure is a recently proposed formal definition of intelligence. It is mathematically specified, extremely general, and captures the essence of many informal definitions of intelligence. It is based on Hutter's Universal Artificial Intelligence theory, an extension of Ray Solomonoff's pioneering work on universal induction. Since the Universal Intelligence Measure is only asymptotically computable, building a practical intelligence test from it is not straightforward. This paper studies the practical issues involved in developing a real-world UIM-based performance metric. Based on our investigation, we develop a prototype implementation which we use to evaluate a number of different artificial agents.


Self-organization of Nodes using Bio-Inspired Techniques for Achieving Small World Properties

Abstract: In an autonomous wireless sensor network, self-organization of the nodes is essential to achieve network wide characteristics. We believe that connectivity in wireless autonomous networks can be increased and overall average path length can be reduced by using beamforming and bio-inspired algorithms. Recent works on the use of beamforming in wireless networks mostly assume the knowledge of the network in aggregation to either heterogeneous or hybrid deployment. We propose that without the global knowledge or the introduction of any special feature, the average path length can be reduced with the help of inspirations from the nature and simple interactions between neighboring nodes. Our algorithm also reduces the number of disconnected components within the network. Our results show that reduction in the average path length and the number of disconnected components can be achieved using very simple local rules and without the full network knowledge.


LSRN: A Parallel Iterative Solver for Strongly Over- or Under-Determined Systems

Abstract: We describe a parallel iterative least squares solver named \texttt{LSRN} that is based on random normal projection. \texttt{LSRN} computes the min-length solution to $\min_{x \in \mathbb{R}^n} \|A x - b\|_2$, where $A \in \mathbb{R}^{m \times n}$ with $m \gg n$ or $m \ll n$, and where $A$ may be rank-deficient. Tikhonov regularization may also be included. Since $A$ is only involved in matrix-matrix and matrix-vector multiplications, it can be a dense or sparse matrix or a linear operator, and \texttt{LSRN} automatically speeds up when $A$ is sparse or a fast linear operator. The preconditioning phase consists of a random normal projection, which is embarrassingly parallel, and a singular value decomposition of size $\lceil \gamma \min(m,n) \rceil \times \min(m,n)$, where $\gamma$ is moderately larger than 1, e.g., $\gamma = 2$. We prove that the preconditioned system is well-conditioned, with a strong concentration result on the extreme singular values, and hence that the number of iterations is fully predictable when we apply LSQR or the Chebyshev semi-iterative method. As we demonstrate, the Chebyshev method is particularly efficient for solving large problems on clusters with high communication cost. Numerical results demonstrate that on a shared-memory machine, \texttt{LSRN} outperforms LAPACK's DGELSD on large dense problems, and MATLAB's backslash (SuiteSparseQR) on sparse problems. Further experiments demonstrate that \texttt{LSRN} scales well on an Amazon Elastic Compute Cloud cluster.


An Improved Search Algorithm for Optimal Multiple-Sequence Alignment

Abstract: Multiple sequence alignment (MSA) is a ubiquitous problem in computational biology. Although it is NP-hard to find an optimal solution for an arbitrary number of sequences, due to the importance of this problem researchers are trying to push the limits of exact algorithms further. Since MSA can be cast as a classical path finding problem, it is attracting a growing number of AI researchers interested in heuristic search algorithms as a challenge with actual practical relevance. In this paper, we first review two previous, complementary lines of research. Based on Hirschbergs algorithm, Dynamic Programming needs O(kN^(k-1)) space to store both the search frontier and the nodes needed to reconstruct the solution path, for k sequences of length N. Best first search, on the other hand, has the advantage of bounding the search space that has to be explored using a heuristic. However, it is necessary to maintain all explored nodes up to the final solution in order to prevent the search from re-expanding them at higher cost. Earlier approaches to reduce the Closed list are either incompatible with pruning methods for the Open list, or must retain at least the boundary of the Closed list. In this article, we present an algorithm that attempts at combining the respective advantages; like A* it uses a heuristic for pruning the search space, but reduces both the maximum Open and Closed size to O(kN^(k-1)), as in Dynamic Programming. The underlying idea is to conduct a series of searches with successively increasing upper bounds, but using the DP ordering as the key for the Open priority queue. With a suitable choice of thresholds, in practice, a running time below four times that of A* can be expected. In our experiments we show that our algorithm outperforms one of the currently most successful algorithms for optimal multiple sequence alignments, Partial Expansion A*, both in time and memory. Moreover, we apply a refined heuristic based on optimal alignments not only of pairs of sequences, but of larger subsets. This idea is not new; however, to make it practically relevant we show that it is equally important to bound the heuristic computation appropriately, or the overhead can obliterate any possible gain. Furthermore, we discuss a number of improvements in time and space efficiency with regard to practical implementations. Our algorithm, used in conjunction with higher-dimensional heuristics, is able to calculate for the first time the optimal alignment for almost all of the problems in Reference 1 of the benchmark database BAliBASE.


Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

Abstract: This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results.


Generative Prior Knowledge for Discriminative Classification

Abstract: We present a novel framework for integrating prior knowledge into discriminative classifiers. Our framework allows discriminative classifiers such as Support Vector Machines (SVMs) to utilize prior knowledge specified in the generative setting. The dual objective of fitting the data and respecting prior knowledge is formulated as a bilevel program, which is solved (approximately) via iterative application of second-order cone programming. To test our approach, we consider the problem of using WordNet (a semantic database of English language) to improve low-sample classification accuracy of newsgroup categorization. WordNet is viewed as an approximate, but readily available source of background knowledge, and our framework is capable of utilizing it in a flexible way.


The Control Theory of Motion-Based Communication: Problems in Teaching Robots to Dance

Abstract: The paper describes results on two components of a research program focused on motion-based communication mediated by the dynamics of a control system. Specifically we are interested in how mobile agents engaged in a shared activity such as dance can use motion as a medium for transmitting certain types of messages. The first part of the paper adopts the terminology of motion description languages and deconstructs an elementary form of the well-known popular dance, Salsa, in terms of four motion primitives (dance steps). Several notions of dance complexity are introduced. We describe an experiment in which ten performances by an actual pair of dancers are evaluated by judges and then compared in terms of proposed complexity metrics. An energy metric is also defined. Values of this metric are obtained by summing the lengths of motion segments executed by wheeled robots replicating the movements of the human dancers in each of the ten dance performances. Of all the metrics that are considered in this experiment, energy is the most closely correlated with the human judges' assessments of performance quality. The second part of the paper poses a general class of dual objective motion control problems in which a primary objective (artistic execution of a dance step or efficient movement toward a specified terminal state) is combined with a communication objective. Solutions of varying degrees of explicitness can be given in several classes of problems of communicating through the dynamics of finite dimensional linear control systems. In this setting it is shown that the cost of adding a communication component to motions that steer a system between prescribed pairs of states is independent of those states. At the same time, the optimal encoding problem itself is shown to be a problem of packing geometric objects, and it remains open.


Improving the Usability of Privacy Settings in Facebook

Abstract: The ever increasing popularity of Facebook and other Online Social Networks has left a wealth of personal and private data on the web, aggregated and readily accessible for broad and automatic retrieval. Protection from both undesired recipients as well as harvesting through crawlers is implemented by simple access control at the provider, configured by manual authorization through the publishing user. Several studies demonstrate that standard settings directly cause an unnoticed over-sharing and that the users have trouble understanding and configuring adequate settings. Using the three simple principles of color coding, ease of access, and application of common practices, we developed a new privacy interface that increases the usability significantly. The results of our user study underlines the extent of the initial problem and documents that our interface enables faster, more precise authorisation and leads to increased intelligibility.


The Fast Downward Planning System

Abstract: Fast Downward is a classical planning system based on heuristic search. It can deal with general deterministic planning problems encoded in the propositional fragment of PDDL2.2, including advanced features like ADL conditions and effects and derived predicates (axioms). Like other well-known planners such as HSP and FF, Fast Downward is a progression planner, searching the space of world states of a planning task in the forward direction. However, unlike other PDDL planning systems, Fast Downward does not use the propositional PDDL representation of a planning task directly. Instead, the input is first translated into an alternative representation called multi-valued planning tasks, which makes many of the implicit constraints of a propositional planning task explicit. Exploiting this alternative representation, Fast Downward uses hierarchical decompositions of planning tasks for computing its heuristic function, called the causal graph heuristic, which is very different from traditional HSP-like heuristics based on ignoring negative interactions of operators. In this article, we give a full account of Fast Downwards approach to solving multi-valued planning tasks. We extend our earlier discussion of the causal graph heuristic to tasks involving axioms and conditional effects and present some novel techniques for search control that are used within Fast Downwards best-first search algorithm: preferred operators transfer the idea of helpful actions from local search to global best-first search, deferred evaluation of heuristic functions mitigates the negative effect of large branching factors on search performance, and multi-heuristic best-first search combines several heuristic evaluation functions within a single search algorithm in an orthogonal way. We also describe efficient data structures for fast state expansion (successor generators and axiom evaluators) and present a new non-heuristic search algorithm called focused iterative-broadening search, which utilizes the information encoded in causal graphs in a novel way. Fast Downward has proven remarkably successful: It won the "classical (i.e., propositional, non-optimising) track of the 4th International Planning Competition at ICAPS 2004, following in the footsteps of planners such as FF and LPG. Our experiments show that it also performs very well on the benchmarks of the earlier planning competitions and provide some insights about the usefulness of the new search enhancements.


Asynchronous Partial Overlay: A New Algorithm for Solving Distributed Constraint Satisfaction Problems

Abstract: Distributed Constraint Satisfaction (DCSP) has long been considered an important problem in multi-agent systems research. This is because many real-world problems can be represented as constraint satisfaction and these problems often present themselves in a distributed form. In this article, we present a new complete, distributed algorithm called Asynchronous Partial Overlay (APO) for solving DCSPs that is based on a cooperative mediation process. The primary ideas behind this algorithm are that agents, when acting as a mediator, centralize small, relevant portions of the DCSP, that these centralized subproblems overlap, and that agents increase the size of their subproblems along critical paths within the DCSP as the problem solving unfolds. We present empirical evidence that shows that APO outperforms other known, complete DCSP techniques.


Greedy Algorithms for Multi-Queue Buffer Management with Class Segregation

Abstract: In this paper, we focus on a multi-queue buffer management in which packets of different values are segregated in different queues. Our model consists of m packets values and m queues. Recently, Al-Bawani and Souza (arXiv:1103.6049v2 [cs.DS] 30 Mar 2011) presented an online multi-queue buffer management algorithm Greedy and showed that it is 2-competitive for the general m-valued case, i.e., m packet values are 0 < v_{1} < v_{2} < ... < v_{m}, and (1+v_{1}/v_{2})-competitive for the two-valued case, i.e., two packet values are 0 < v_{1} < v_{2}. For the general m-valued case, let c_i = (v_{i} + \sum_{j=1}^{i-1} 2^{j-1} v_{i-j})/(v_{i+1} + \sum_{j=1}^{i-1}2^{j-1}v_{i-j}) for 1 \leq i \leq m-1, and let c_{m}^{*} = \max_{i} c_{i}. In this paper, we precisely analyze the competitive ratio of Greedy for the general m-valued case, and show that the algorithm Greedy is (1+c_{m}^{*})-competitive.


A General Framework for Computing Optimal Correlated Equilibria in Compact Games

Abstract: We analyze the problem of computing a correlated equilibrium that optimizes some objective (e.g., social welfare). Papadimitriou and Roughgarden [2008] gave a sufficient condition for the tractability of this problem; however, this condition only applies to a subset of existing representations. We propose a different algorithmic approach for the optimal CE problem that applies to all compact representations, and give a sufficient condition that generalizes that of Papadimitriou and Roughgarden. In particular, we reduce the optimal CE problem to the deviation-adjusted social welfare problem, a combinatorial optimization problem closely related to the optimal social welfare problem. This framework allows us to identify new classes of games for which the optimal CE problem is tractable; we show that graphical polymatrix games on tree graphs are one example. We also study the problem of computing the optimal coarse correlated equilibrium, a solution concept closely related to CE. Using a similar approach we derive a sufficient condition for this problem, and use it to prove that the problem is tractable for singleton congestion games.


Evaluation of a Bundling Technique for Parallel Coordinates

Abstract: We describe a technique for bundled curve representations in parallel-coordinates plots and present a controlled user study evaluating their effectiveness. Replacing the traditional C^0 polygonal lines by C^1 continuous piecewise Bezier curves makes it easier to visually trace data points through each coordinate axis. The resulting Bezier curves can then be bundled to visualize data with given cluster structures. Curve bundles are efficient to compute, provide visual separation between data clusters, reduce visual clutter, and present a clearer overview of the dataset. A controlled user study with 14 participants confirmed the effectiveness of curve bundling for parallel-coordinates visualization: 1) compared to polygonal lines, it is equally capable of revealing correlations between neighboring data attributes; 2) its geometric cues can be effective in displaying cluster information. For some datasets curve bundling allows the color perceptual channel to be applied to other data attributes, while for complex cluster patterns, bundling and color can represent clustering far more clearly than either alone.


A Visual Entity-Relationship Model for Constraint-Based University Timetabling

Abstract: University timetabling (UTT) is a complex problem due to its combinatorial nature but also the type of constraints involved. The holy grail of (constraint) programming: "the user states the problem the program solves it" remains a challenge since solution quality is tightly coupled with deriving "effective models", best handled by technology experts. In this paper, focusing on the field of university timetabling, we introduce a visual graphic communication tool that lets the user specify her problem in an abstract manner, using a visual entity-relationship model. The entities are nodes of mainly two types: resource nodes (lecturers, assistants, student groups) and events nodes (lectures, lab sessions, tutorials). The links between the nodes signify a desired relationship between them. The visual modeling abstraction focuses on the nature of the entities and their relationships and abstracts from an actual constraint model.


Heavy Traffic Approximation of Equilibria in Resource Sharing Games

Abstract: We consider a model of priced resource sharing that combines both queueing behavior and strategic behavior. We study a priority service model where a single server allocates its capacity to agents in proportion to their payment to the system, and users from different classes act to minimize the sum of their cost for processing delay and payment. As the exact processing time of this system is hard to compute, we introduce the notion of heavy traffic equilibrium as an approximation of the Nash equilibrium, derived by considering the asymptotic regime where the system load approaches capacity. We discuss efficiency and revenue, and in particular provide a bound for the price of anarchy of the heavy traffic equilibrium.


Space-efficient Local Computation Algorithms

Abstract: Recently Rubinfeld et al. (ICS 2011, pp. 223--238) proposed a new model of sublinear algorithms called \emph{local computation algorithms}. In this model, a computation problem $F$ may have more than one legal solution and each of them consists of many bits. The local computation algorithm for $F$ should answer in an online fashion, for any index $i$, the $i^{\mathrm{th}}$ bit of some legal solution of $F$. Further, all the answers given by the algorithm should be consistent with at least one solution of $F$. In this work, we continue the study of local computation algorithms. In particular, we develop a technique which under certain conditions can be applied to construct local computation algorithms that run not only in polylogarithmic time but also in polylogarithmic \emph{space}. Moreover, these local computation algorithms are easily parallelizable and can answer all parallel queries consistently. Our main technical tools are pseudorandom numbers with bounded independence and the theory of branching processes.


Bilinear Games: Polynomial Time Algorithms for Rank Based Subclasses

Abstract: Motivated by the sequence form formulation of Koller et al. (GEB'96), this paper defines {\em bilinear games}, and proposes efficient algorithms for its rank based subclasses. Bilinear games are two-player non-cooperative single-shot games with compact polytopal strategy sets and two payoff matrices (A,B) such that when (x,y) is the played strategy profile, the payoffs of the players are xAy and xBy respectively. We show that bilinear games are very general and capture many interesting classes of games like bimatrix games, two player Bayesian games, polymatrix games, two-player extensive form games with perfect recall etc. as special cases, and hence are hard to solve in general. Existence of a (symmetric) Nash equilibrium for (symmetric) bilinear games follow directly from the known results. For a given bilinear game, we define its {\em Best Response Polytopes} (BRPs) and characterize the set of Nash equilibria as {\em fully-labeled} pairs in the BRPs. We consider a rank based hierarchy of bilinear games, where rank of a game (A,B) is defined as rank(A+B). In this paper, we give polynomial time algorithms to compute Nash equilibrium for special classes of bilinear games: (i) Rank-1 games (i.e., rank(A+B)=1). (ii) FPTAS for constant rank games (i.e., rank(A+B) is constant). (iii) When rank(A) or rank(B) is constant. This improves the results by Lipton et al. (EC'03) and Kannan et al. (ET'09), for bimatrix games with low rank matrices.


The Aware Cricket Ground

Abstract: The most profound technologies are those that disappear. They weave themselves into fabrics of everyday life until they are indistinguishable from it [1]. This research work is a mere effort for automated decision making during sports of most common interest leveraging ubiquitous computing. Primarily cricket has been selected for the first implementation of the idea. A positioning system is used for locating the objects moving in the field. Main objectives of the research are to help achieve the following goals. 1) Make Decisions where human eye can make error due to human limitations. 2) Simulate the Match activity during and after the game in a 3D computerized Graphics system. 3) Make various types of game and performance analysis of a certain team or a player.


A Framework for Prefetching Relevant Web Pages using Predictive Prefetching Engine (PPE)

Abstract: This paper presents a framework for increasing the relevancy of the web pages retrieved by the search engine. The approach introduces a Predictive Prefetching Engine (PPE) which makes use of various data mining algorithms on the log maintained by the search engine. The underlying premise of the approach is that in the case of cluster accesses, the next pages requested by users of the Web server are typically based on the current and previous pages requested. Based on same, rules are drawn which then lead the path for prefetching the desired pages. To carry out the desired task of prefetching the more relevant pages, agents have been introduced.


The Complexity of Nash Equilibria in Limit-Average Games

Abstract: We study the computational complexity of Nash equilibria in concurrent games with limit-average objectives. In particular, we prove that the existence of a Nash equilibrium in randomised strategies is undecidable, while the existence of a Nash equilibrium in pure strategies is decidable, even if we put a constraint on the payoff of the equilibrium. Our undecidability result holds even for a restricted class of concurrent games, where nonzero rewards occur only on terminal states. Moreover, we show that the constrained existence problem is undecidable not only for concurrent games but for turn-based games with the same restriction on rewards. Finally, we prove that the constrained existence problem for Nash equilibria in (pure or randomised) stationary strategies is decidable and analyse its complexity.


The Pollution Effect: Optimizing Keyword Auctions by Favoring Relevant Advertising

Abstract: Most search engines sell slots to place advertisements on the search results page through keyword auctions. Advertisers offer bids for how much they are willing to pay when someone enters a search query, sees the search results, and then clicks on one of their ads. Search engines typically order the advertisements for a query by a combination of the bids and expected clickthrough rates for each advertisement. In this paper, we extend a model of Yahoo's and Google's advertising auctions to include an effect where repeatedly showing less relevant ads has a persistent impact on all advertising on the search engine, an impact we designate as the pollution effect. In Monte-Carlo simulations using distributions fitted to Yahoo data, we show that a modest pollution effect is sufficient to dramatically change the advertising rank order that yields the optimal advertising revenue for a search engine. In addition, if a pollution effect exists, it is possible to maximize revenue while also increasing advertiser, and publisher utility. Our results suggest that search engines could benefit from making relevant advertisements less expensive and irrelevant advertisements more costly for advertisers than is the current practice.


Parameterised Pushdown Systems with Non-Atomic Writes

Abstract: We consider the master/slave parameterised reachability problem for networks of pushdown systems, where communication is via a global store using only non-atomic reads and writes. We show that the control-state reachability problem is decidable. As part of the result, we provide a constructive extension of a theorem by Ehrenfeucht and Rozenberg to produce an NFA equivalent to certain kinds of CFG. Finally, we show that the non-parameterised version is undecidable.


Fractal String Generation and Its Application in Music Composition

Abstract: Music is a string of some of the notes out of 12 notes (Sa, Komal_re, Re, Komal_ga, Ga, Ma, Kari_ma, Pa, Komal_dha, Dha, Komal_ni, Ni) and their harmonics. Each note corresponds to a particular frequency. When such strings are encoded to form discrete sequences, different frequencies present in the music corresponds to different amplitude levels (value) of the discrete sequence. Initially, a class of discrete sequences has been generated using logistic map. All these discrete sequences have at most n-different amplitude levels (value) (depending on the particular raga). Without loss of generality, we have chosen two discrete sequences of two types of Indian raga viz. Bhairabi and Bhupali having same number of amplitude levels to obtain/search close relatives from the class. The relative / closeness can be assured through correlation coefficient.The search is unbiased, random and non-adaptive. The obtained string is that which maximally resembles the given two sequences. The same can be thought of as a music composition of the given two strings. It is to be noted that all these string are fractal string which can be persuaded by fractal dimension.


Structural focalization

Abstract: Focusing, introduced by Jean-Marc Andreoli in the context of classical linear logic, defines a normal form for sequent calculus derivations that cuts down on the number of possible derivations by eagerly applying invertible rules and grouping sequences of non-invertible rules. A focused sequent calculus is defined relative to some non-focused sequent calculus; focalization is the property that every non-focused derivation can be transformed into a focused derivation. In this paper, we present a focused sequent calculus for propositional intuitionistic logic and prove the focalization property relative to a standard presentation of propositional intuitionistic logic. Compared to existing approaches, the proof is quite concise, depending only on the internal soundness and completeness of the focused logic. In turn, both of these properties can be established (and mechanically verified) by structural induction in the style of Pfenning's structural cut elimination without the need for any tedious and repetitious invertibility lemmas. The proof of cut admissibility for the focused system, which establishes internal soundness, is not particularly novel. The proof of identity expansion, which establishes internal completeness, is a major contribution of this work.


When Newton meets Descartes: A Simple and Fast Algorithm to Isolate the Real Roots of a Polynomial

Abstract: We introduce a new algorithm denoted DSC2 to isolate the real roots of a univariate square-free polynomial f with integer coefficients. The algorithm iteratively subdivides an initial interval which is known to contain all real roots of f. The main novelty of our approach is that we combine Descartes' Rule of Signs and Newton iteration. More precisely, instead of using a fixed subdivision strategy such as bisection in each iteration, a Newton step based on the number of sign variations for an actual interval is considered, and, only if the Newton step fails, we fall back to bisection. Following this approach, our analysis shows that, for most iterations, we can achieve quadratic convergence towards the real roots. In terms of complexity, our method induces a recursion tree of almost optimal size O(nlog(n tau)), where n denotes the degree of the polynomial and tau the bitsize of its coefficients. The latter bound constitutes an improvement by a factor of tau upon all existing subdivision methods for the task of isolating the real roots. In addition, we provide a bit complexity analysis showing that DSC2 needs only \tilde{O}(n^3tau) bit operations to isolate all real roots of f. This matches the best bound known for this fundamental problem. However, in comparison to the much more involved algorithms by Pan and Sch\"onhage (for the task of isolating all complex roots) which achieve the same bit complexity, DSC2 focuses on real root isolation, is very easy to access and easy to implement.


Using Stereoscopic 3D Technologies for the Diagnosis and Treatment of Amblyopia in Children

Abstract: The 3D4Amb project aims at developing a system based on the stereoscopic 3D techonlogy, like the NVIDIA 3D Vision, for the diagnosis and treatment of amblyopia in young children. It exploits the active shutter technology to provide binocular vision, i.e. to show different images to the amblyotic (or lazy) and the normal eye. It would allow easy diagnosis of amblyopia and its treatment by means of interactive games or other entertainment activities. It should not suffer from the compliance problems of the classical treatment, it is suitable to domestic use, and it could at least partially substitute occlusion or patching of the normal eye.


Sensitivity Analysis for Declarative Relational Query Languages with Ordinal Ranks

Abstract: We present sensitivity analysis for results of query executions in a relational model of data extended by ordinal ranks. The underlying model of data results from the ordinary Codd's model of data in which we consider ordinal ranks of tuples in data tables expressing degrees to which tuples match queries. In this setting, we show that ranks assigned to tuples are insensitive to small changes, i.e., small changes in the input data do not yield large changes in the results of queries.


A Reduced Multiple Gabor Frame for Local Time Adaptation of the Spectrogram

Abstract: In this paper we propose a method for automatic local time adap- tation of the spectrogram of an audio signal, based on its decomposition within a Gabor multi-frame. The sparsity of the analyses within each individual frame is evaluated through the R\'enyi entropies measures. According to the sparsity of the decompositions, an optimal resolution and a reduced multi-frame are determined, defining an adapted spectrogram with variable resolution and hop size. The composition of such a reduced multi-frame allows an immediate definition of a dual frame: re-synthesis techniques for this adapted analysis are easily derived by the traditional phase vocoder scheme.


An Entropy Based Method for Local Time-Adaptation of the Spectrogram

Abstract: We propose a method for automatic local time-adaptation of the spectrogram of audio signals: it is based on the decomposition of a signal within a Gabor multi-frame through the STFT operator. The sparsity of the analysis in every individual frame of the multi-frame is evaluated through the R\'enyi entropy measures: the best local resolution is determined minimizing the entropy values. The overall spectrogram of the signal we obtain thus provides local optimal resolution adaptively evolving over time. We give examples of the performance of our algorithm with an instrumental sound and a synthetic one, showing the improvement in spectrogram displaying obtained with an automatic adaptation of the resolution. The analysis operator is invertible, thus leading to a perfect reconstruction of the original signal through the analysis coefficients.


Negotiating Socially Optimal Allocations of Resources

Abstract: A multiagent system may be thought of as an artificial society of autonomous software agents and we can apply concepts borrowed from welfare economics and social choice theory to assess the social welfare of such an agent society. In this paper, we study an abstract negotiation framework where agents can agree on multilateral deals to exchange bundles of indivisible resources. We then analyse how these deals affect social welfare for different instances of the basic framework and different interpretations of the concept of social welfare itself. In particular, we show how certain classes of deals are both sufficient and necessary to guarantee that a socially optimal allocation of resources will be reached eventually.


Domain Adaptation for Statistical Classifiers

Abstract: The most basic assumption used in statistical learning theory is that training data and test data are drawn from the same underlying distribution. Unfortunately, in many applications, the "in-domain" test data is drawn from a distribution that is related, but not identical, to the "out-of-domain" distribution of the training data. We consider the common case in which labeled out-of-domain data is plentiful, but labeled in-domain data is scarce. We introduce a statistical formulation of this problem in terms of a simple mixture model and present an instantiation of this framework to maximum entropy classifiers and their linear chain counterparts. We present efficient inference algorithms for this special case based on the technique of conditional expectation maximization. Our experimental results show that our approach leads to improved performance on three real world tasks on four different data sets from the natural language processing domain.


Admissible and Restrained Revision

Abstract: As partial justification of their framework for iterated belief revision Darwiche and Pearl convincingly argued against Boutiliers natural revision and provided a prototypical revision operator that fits into their scheme. We show that the Darwiche-Pearl arguments lead naturally to the acceptance of a smaller class of operators which we refer to as admissible. Admissible revision ensures that the penultimate input is not ignored completely, thereby eliminating natural revision, but includes the Darwiche-Pearl operator, Nayaks lexicographic revision operator, and a newly introduced operator called restrained revision. We demonstrate that restrained revision is the most conservative of admissible revision operators, effecting as few changes as possible, while lexicographic revision is the least conservative, and point out that restrained revision can also be viewed as a composite operator, consisting of natural revision preceded by an application of a "backwards revision" operator previously studied by Papini. Finally, we propose the establishment of a principled approach for choosing an appropriate revision operator in different contexts and discuss future work.


On Graphical Modeling of Preference and Importance

Abstract: In recent years, CP-nets have emerged as a useful tool for supporting preference elicitation, reasoning, and representation. CP-nets capture and support reasoning with qualitative conditional preference statements, statements that are relatively natural for users to express. In this paper, we extend the CP-nets formalism to handle another class of very natural qualitative statements one often uses in expressing preferences in daily life - statements of relative importance of attributes. The resulting formalism, TCP-nets, maintains the spirit of CP-nets, in that it remains focused on using only simple and natural preference statements, uses the ceteris paribus semantics, and utilizes a graphical representation of this information to reason about its consistency and to perform, possibly constrained, optimization using it. The extra expressiveness it provides allows us to better model tradeoffs users would like to make, more faithfully representing their preferences.


The Planning Spectrum - One, Two, Three, Infinity

Abstract: Linear Temporal Logic (LTL) is widely used for defining conditions on the execution paths of dynamic systems. In the case of dynamic systems that allow for nondeterministic evolutions, one has to specify, along with an LTL formula f, which are the paths that are required to satisfy the formula. Two extreme cases are the universal interpretation A.f, which requires that the formula be satisfied for all execution paths, and the existential interpretation E.f, which requires that the formula be satisfied for some execution path. When LTL is applied to the definition of goals in planning problems on nondeterministic domains, these two extreme cases are too restrictive. It is often impossible to develop plans that achieve the goal in all the nondeterministic evolutions of a system, and it is too weak to require that the goal is satisfied by some execution. In this paper we explore alternative interpretations of an LTL formula that are between these extreme cases. We define a new language that permits an arbitrary combination of the A and E quantifiers, thus allowing, for instance, to require that each finite execution can be extended to an execution satisfying an LTL formula (AE.f), or that there is some finite execution whose extensions all satisfy an LTL formula (EA.f). We show that only eight of these combinations of path quantifiers are relevant, corresponding to an alternation of the quantifiers of length one (A and E), two (AE and EA), three (AEA and EAE), and infinity ((AE)* and (EA)*). We also present a planning algorithm for the new language that is based on an automata-theoretic approach, and study its complexity.