+ All Categories
Home > Documents > Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of...

Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of...

Date post: 06-Oct-2020
Category:
Upload: others
View: 2 times
Download: 0 times
Share this document with a friend
41
Transcript
Page 1: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� ��������� �������������������� ������� � �������������� �!���������� "#�$���

%'&)(+*�,.-0/�1 2435/)&76�8:9;%<,=6?>�-@/),�A�-@/72CBD2

EGF�HJI0KMLONQPSR0TVUWNQX0TYN;Z�N)I+[�PQL\H$NQX]L_^`EG[�PaX4NWbcUWNedfNQg_ghF�Xji=XkUmlcNQPanaU\L\o^=p�U\LqL_nVrQK+Pqb�sD^tpvuwDx�yzwc{c|}{D~����

���=�V����k�c����������k���M�S�����c�Q�������!���k���������c����� ����¡+�����D�k�¢��������£��S¤]��¥$�V�k���:¦k���c§]�����¨£����]�Q�J��©M�`�M�c�a�¢�c�¤M�Vª0�k�������D���c«4�c�¢�c¦k�����$�c�+¦@�D�¬���Q­®�M�e���D�k�c�V�?��¦k¦]������£V¯c°�©M�±�c¦k�����$�c�+¦@�D�¬���Q­®���?�c��­����D�������¤M�V¦4���k¤]£��D� ��©M�e¦4�D���¬�V����£��c«C��©M�e�c��©M�V�²���c������£;�c�k¤ £��$�Q����������£;�¢£������]�������D�³�c«G���������k�¬�M�������¡z�¬�M�!�������c�V�V¯k´t���V¡+���D�k£��������a�k���M���c���c�c������©k�$£ ©]��¡c�`�D�M�;�c«=�Oµ �¢£�©M�c�����Q�D�¢�¬�M�D£�¤M�V¦4���k¤+¶���k�³�D�·��©M�����®��¦]¦k���D�c��©¸¯�°�©M�V­�������©M�V�S�Q�D��¡c�V���c�����¹�³¦4�D���¬�Q­¹��©k���®�$��­º�M�c�e§4���c¦k���¬�¢�c����D�c���]£�����©M�¹£�¦4���V��ª0�$�c¦k¦4�D�M������£V»G¦4�D�����V����£V¼.�c�$��©M�V­½�$��­��M�c�¢�Q�D��¡c�V���c�¾���¢�c�¬�q¯C¿)����©]��£�������¬�V���;µ:�;�QÀM�c�¢���M�²��©k��£����������]���M�®¦]���c§]�����Á������©M�;«m�a�c���Vµ:�c��Â$�c«.£����z�a©k�c£������;�D�c����£�¯z÷����z�cÂS���t�;�z�k�S§@�V�C�c«0¦k���V¡+���D�k£C���������k�¬�M�J�c���c�c�a����©k�¢£C£�©M��µÄ���M�`©M��µ���©M�V­®«\�c���+���G�D�M���c«]��©k���§4��¡c�!�Q�������V�a���+¯k÷����©M���Å�Q�D��������§0�M���®�$�k�VµÆ�����¬�M«m�c�a�Q���������J���������k���k��������©k�k�¬Ç��M���k£����k�¢�¡���������§]��� �������a�k���M�J�������±���`��¡c�V���Q�D�¢����©M��£��±£�©M�c�����Q�D�¢���M�D£V¯�Èz¦4���V��ª0�V�c����­c¼�µ �����������+¤k�k�Q�?��©k�÷�D�.É�¦k�����]�V��¦]���c¼�Ê}Ãj�¬�·�c�®�¸�����a�5Ék�c£���Ë+¼.«m�c�S¡����­z���k�³��©M�¢���������k�¬�M���������c¯�÷���QÀ+�c�¢�¬�M���©k�¬£?�����a©k�k��Çz�M�²��©M�V�c���V�����V�c����­c¼�¦k����¡+���M�S�Q�D��¡c�V���c���k�Q�e�¬��£�����«¬¶W¦]�¬��­��D���®����£��������Q����¤��V���c£�£:�c«�����V�a������¤Å�¢�����a�hÀ³�D�c����£V¯]÷�!�c��£���¦k����£�����������¦0�������V�c�v����£��k����£±�D�¾�¢¡��������V�7­³�c«G���c���®�c���M¶�V���c��£����+��©]�c£��������D�c����£V¼G���½£������k�������D�]£®�c«Ä£�����«¬¶W¦0����­º�c�k¤f�c��©M�V��µJ��£��c¼C¤M�����D�k£����a�������M�¹��©k�µÄ�¬¤M�`��¦k¦]�����V��§0�������7­��c«=��©]��£±���V��©M�+¤v¯

Ì NVo¢Í?F�P�ÎnQÏÑÐ �k�����¬���c�������������a�k���M�M¼+�������k«m�c���Q���¢�������������a�k���M�M¼+�D�c���S��©M�V�c��­

Ò Ó�Ô.ÕcÖD×GØ?Ù:ÚzÕcÛO×�Ô

Ü®Ý�ÞYÝßzàYáVâäã_åçæ�è4émêYã\ßzëzÝåMê¾Þ�ì]ÞaêQÝ�æÅÞ·ãmå4áémè4í4Ý�ÞÅêQâ@Ý�ã_åMî+Ý�ÞaêQãmëMß�êYã_ï+åÆïzð$ßzé_ëzï+àYã¬êQâ4æ¹Þ³êQïñ àYïcî]ã_í@Ý5ò�Ýâ4ßcî]ãmï+àYÞ�ó�ðWè4å4á�êYã_ï+å@Þ êYâvß�ê¹ÞYÝ�é_Ý�á�êÅßzá�êYã_ï+å@Þó�êQïÑæ�è@émêQã ñ é_ݾßzë+Ý�åkêYÞÅá�ï0Ý�ô0ã_Þaê�õã_å4ëºãmåÑêYâ4ݹÞQßzæ¹Ý ÝåMî]ã_àYïzå4æÅÝ�åMê�ö?÷fè4é¬êQã_ßzë+ÝåMê¢Þ�ì0Þ�êQÝ�æÅÞ�ßzàYÝ ò�ÝáïzæÅãmå4ëºã_å4á�àYÝ�ß�ÞYã_å@ë+émìàYÝ�é_Ý�î�ßzåMê¢øeãmêYâ4ã_åùßzà�êQãmú4áã\ß�é�ã_åMêQÝ�é_émã_ë+Ý�å4áÝ�óCßzÞ$ÞYïzðqê�ø²ßzàaÝ�ßzå4íûàYïzò.ïzêYã_á ßzëzÝåMêQÞ�ò.Ý�áï+æ¹Ýü H¢[�Umg=[DÎDÎ�P�NYnanVNYnVÏ.ýMþzÿ����������Vý����� ����qÐ ����©k������� ��µÄ���¬�M���a¼ ýzý�����������ý������� ��

�qÐ �c���k�������G�����D£����a¯

���! �"#��$&%('�)+*�,�-.$/'0'1 +23'14657�+'8$:9<;�$>=@?#A�%('1 !?&?&$CB� !%#;! D�EGFH=!IHD�J�J�K

Page 2: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

æÅïzàYÝ ñ àaÝ�î�ßzémÝåMê�ö`Üeï+ò�ïzêQãmá�ÞYï]áá�Ýà�ó;í4ã_ÞYßzÞaêYÝà·æ¹ãmêYã_ëMß�êYã_ï+åÆßzå4íäàaÝÞYá�è4Ýzóeß�è@êQï+æÅß�êYÝíí4àYã¬î]ã_å4ë4ó�ßzå@í½ã_å0ðWï+àYæÅß�êQãmï+å5ßzå4ífÝ�õ�á�ï+æ¹æÅÝ�àYáÝ�ßzë+Ý�åkêYÞ!ßzàaÝ�Ý�ô4ß�æ ñ émÝÞ®ïzð�áVâvßzémé_Ý�å4ë+ã_å@ëæ�è4é¬êQã\ß�ë+ÝåMê�í4ïzæ¾ßzãmå4Þö � Þ¢êQâ4ÝÅßzè@êYï+æ¾ß�êQã_ïzå½êQàaÝå4íùáï+åMêQãmåkè4ÝÞ�ótøJݾå@ÝÝíùàYï+ò@è4Þaê�ßzé�õë+ï+àaãmêQâ@æÅÞ$ðWï+à�á�ï0ï+àaí4ã_å4ß�êQãmå4ë½æ�è@émêQã ñ é_ÝÅßzë+Ý�åMêQÞó�ßzå4í ðWï+à�Ý��=Ý�á�êYãmî+Ý�émìjàYÝÞ ñ ïzå4í4ã_å@ë�êQïïzêQâ@ÝàeÝ�ô]êQÝ�àYåvß�étßzë+ÝåMêYÞö

÷fè4é¬êQã\ß�ë+ÝåMêÄí4ï+æÅßzã_å@Þ±àYÝ��kè4ãmàYÝ®í4Ý�êYÝàaæÅãmå4ã_å4ë�ߢáï+è4àaÞYÝSïzðGßzá�êQãmï+å¹ðWïzàJÝßzáVâ�ßzëzÝåMê��aè@ÞaêßzÞ�ãmå�ÞYãmå4ë+émÝ�õ�ß�ë+ÝåMê�í@ï+æ¾ß�ã_å4Þ�öz÷fßzáVâ4ã_å@Ý;é_ÝßzàYå4ãmå4ë�áßzå³ò�Ý`ß ñ ïDøJÝà�ðWè4é0êYï0ïzé]ðWï+à?úvå4í4ãmå4ëß½ÞYè@ááÝ�ÞYÞ�ðWè4é;áïzè4àYÞaÝ�ïzðeßzá�êQãmï+å ßzå@í á�ßzåjë+àYÝß�êQé¬ìÑÞYã_æ ñ émãmðqì½êYâ4ÝÅêQßzÞ��ûïzð`Þ ñ Ý�áã¬ðqì0ãmå4ëß ñ4ñ àaï ñ àaã\ß�êYÝ�ò.Ý�âvß�î]ã_ï+àaÞ!ðWï+à¢ßzåûßzë+Ý�åkêö�å ñ ßzà�êQã_á�è4é\ß�àó¸êQâ4àaï+è4ë+âÑé_ÝßzàYå@ã_å4ëºßzåÑß�ë+ÝåMêá�ßzå�í@ã_ÞYá�ïcî+Ýà¢ß�å4í�Ý�ô ñ émï+ãmê®êQâ4Ý�í@ì]åvßzæ¹ã_áÞ�ïzð±êQâ4Ý�ÝåMî]ã_àYïzå4æÅÝ�åMê¢ßzå4íÑßzémÞYï·ß�ívß ñ êSêQïè4å@ðWï+àaÝÞaÝÝåûí4ã��Åá�è4émêYã_Ý�Þ!ã_å�êYâ4Ý�êVßzÞ �¸ö��`â4ÝÞaÝÅò�Ýå4Ý�ú4êQÞ¢âvß�îzݹáßzè4ÞaÝíûé_Ý�ß�àYå4ãmå4ë¾êQï·ò�ÝÞaêYè4í4ã_Ý�í�Ý�ô]êQÝ�å4ÞYã¬î+Ý�émì½ðWïzà�ÞYãmå4ë+émÝ�õ�ß�ë+ÝåMê ñ àYï+ò@é_Ýæ¹ÞeøeãmêQâ�ß�ÞaêVß�êQã_ïzåvßzàaìºÝ�åMî0ãmàYï+å@æÅÝ�åkêö�å æ�è4é¬êQã_ßzë+ÝåMê¢Ý�åkî]ãmàYï+å4æ¹ÝåMêYÞó?é_Ý�ß�àYå4ãmå4ëfãmÞ�ò�ïzêYâjæ¹ï+àYݹã_æ ñ ïzàaêVß�åkê$ß�å4íjæ¹ï+àYݹí4ã¬ð\õúváè@émê�ó=ÞYã_å@áÝ�êQâ@ݹÞaÝémÝá�êYã_ï+å�ï�ð;ßzá�êQãmï+å4Þ!æ�è@Þaê¢êVß���Ý ñ é\ß�áݳã_å�êYâ4Ý ñ àYÝ�ÞYÝ�å4áݹïzðJïzêQâ4Ý�àßzë+Ý�åkêYÞö

�jÝ á�ï+å4ÞYãmí4Ýà�æ�è4émêYã\ßzë+Ý�åMê!í4ï+æÅßzãmå4Þ!ã_å�øeâ4ãmáVâjß�ë+ÝåMêQÞ¢ß�àYݳðWï+àYá�Ýí�êQïºãmåkêYÝàYßzá�ê�øeã¬êQâïzêQâ@ÝàSßzë+ÝåMêYÞSêQâ4ß�ê®æ¾ß�ìºâvß�î+Ý�ã_å4í@Ý ñ Ýå4í4Ý�åMê!ë+ïMß�é_Þó¸ß�ÞYÞYè@æ ñ êYã_ï+å@Þó¸ßzémë+ï+àYã¬êQâ4æ¹Þó4ßzå4íáï+åMîzÝåMêQãmï+å4Þö��ùÝ�ßzàaÝ�ãmåMêQÝàaÝÞ�êQÝífã_åfß ñ4ñ àaïMßzáVâ4Ý�Þ®øeâ@ÝàYÝ$êQâ4Ý�ßzë+Ý�åMêQÞ®á�ßzåfé_Ý�ß�àYåfßzå4íßzívß ñ ê?êYï®êYâ4ÝÄïzêQâ4Ý�à ß�ë+ÝåMêQÞ��Dò.Ý�âvß�î0ãmï+àö��0ãmå4áݱøJÝ;ßzÞaÞYè4æ¹Ý�êQâvß�êtêYâ4ÝJï�êQâ4Ý�à:ß�ë+ÝåMêQÞ ßzé_Þaïâvß�î+Ý�êYâ4ݳßzò4ãmé_ã¬ê�ì�êQïºßzí4ß ñ ê�êYâ4Ýãmà�ò�Ýâvß�î]ã_ïzàó.øJÝ�ðOßzá�ݳ߾í4ã��¹áè4é¬ê!é_ÝßzàYå@ã_å4ë ñ àYï+ò@é_ÝæøeãmêYâ�ßeæÅïcî]ã_å@ëeêQßzàYëzÝ�ê�ö��`â@ÝJï ñ êQã_æÅßzé�áï+è4àaÞYÝÄïzðvß�á�êQãmï+å¢ã_ÞtáVâvßzå@ë+ã_å4ëSßzÞ?ßzémézêQâ4ÝJßzë+Ý�åMêQÞßzívß ñ ê�ö��`â@ÝÞYÝeÝ�ô0êYÝàaåvßzévßzí4ß ñ êQãmå4ë�ßzëzÝåMêQÞ î]ãmï+é\ß�êYÝJêYâ4Ý;òvßzÞaã_á;Þ�êVß�êYã_ï+å4ßzàaì�ßzÞaÞYè4æ ñ êQãmï+åïzð4êYàQßzí4ã¬êQãmï+åvßzé+êYÝáVâ4å4ã��kè4ÝÞ ðWïzà:ò�Ýâvß�î]ã_ïzà é_ÝßzàYå@ã_å4ë4ö��®Ý�ø�êYÝáVâ4å4ã��kè4ÝÞ±å4Ý�Ýí�êYï�ò�ݲáïzå0õÞYãmí4ÝàaÝífêYï¾ß�í4í4àYÝ�ÞYÞ®êQâ4Ý¢æ�è4é¬êQã_ßzë+ÝåMêeémÝ�ßzàaå4ã_å4ë ñ àYï+ò4émÝæ5ö��vè4àaêYâ4ÝàaæÅï+àaÝzó4æ�è4émêYã\ßzë+Ý�åMêé_ÝßzàYå4ãmå4ë³âvßzޮ߳ÞaêYàYï+å@ë¹á�ï+å4å4Ý�á�êYã_ï+åºêQï ëMßzæ¹Ý�êYâ4Ýï+à�ì+ó4øeâ4Ý�àYÝ ñ é\ß�ìzÝàYÞeÞaÝé_Ý�á�êSßzá�êQã_ïzå4ÞêQï æÅß�ô0ã_æ¹ã��Ý ñ ß�ì+ï��.Þeã_å·êQâ4Ý ñ àaÝÞaÝå4á�Ý�ïzð:ïzêQâ@Ýà ñ ß�ì+ï��ÑæÅß�ô0ã_æ¹ã���ã_å4ë ñ é\ß�ìzÝàYÞ�ö

� ðWÝ�øjÝ��.ï+àaêYÞGâvß�î+Ý�áï+åMêYàYã_ò@è@êQÝ�í�å4Ý�ø ß ñ4ñ àYï+ßzáVâ4ÝÞtêQï;êYâ4Ý�æ�è4é¬êQã\ß�ë+ÝåMêCémÝ�ßzàaå4ã_å@ë ñ àYïzò0õé_Ý�æfó¸ÞYè@ááÝ�ÞYÞ�ðWè4é_é¬ì�í4Ý�æÅï+å@ÞaêQàYß�êQãmå4ë·ßzémë+ï+àaãmêQâ@æÅÞ`êQâ4ß�ê!áßzå�é_ÝßzàYå���ï ñ êQãmæ¾ß�é� ñ ï+émã_á�ã_ÝÞè4å4í4Ý�à³Þ ñ Ýá�ãmúváºßzÞaÞYè4æ ñ êYã_ï+å4Þ�ö!�å êQâ@ã_Þ ßzà�êQã_á�é_Ý�ó?øJÝ·ïcî+Ýà�î]ã_Ý�ø ÞYï+æ¹Ý�ïzðeêYâ4ÝÞaÝfß�é_ë+ï�õàYã¬êQâ4æ¹Þ;øeâ4ã_émÝ ñ àYïcî]ã_í@ã_å4ë¹ß ñ ßzàYßzé_émÝé=ò�Ý�ê�øJÝÝ�å�ëMßzæ¹Ý!êQâ@Ýï+à�ì5ßzå4í5æ�è4émêYã\ßzëzÝåMê`é_ÝßzàYå]õã_å4ë@ö��`â4Ý�ßzå4ßzémì]ÞYãmÞ¢ïzð ñ àaÝ�î]ã_ïzè4Þ�ß�é_ë+ï+àaãmêYâ4æÅÞ�é_Ý�ß�í4Þ¢è4Þ�êYïfãmåkêYàYï]í4è4á�ݹê�øJï½í4Ý�ÞYãmàQßzò4émÝñ àYï ñ Ý�àaêQãmÝÞ�ðWï+à�æ�è4é¬êQã\ß�ë+ÝåMê±émÝ�ßzàaå4ã_å4ë$ßzémë+ï+àaãmêQâ@æÅÞ�"$# %�&('*),+-%�./'0&21®ßzå4í435),+76�8�#*9:8�+;358�ö��å0õêQÝ�àYÝÞ�êQãmå4ë+émìzóøJÝÄå@ïzêQÝ�êYâvß�ê ñ àaÝ�î]ã_ï+è@Þtßzé_ë+ïzàYãmêYâ4æ¹Þ=ï��.ÝàGÝ�ãmêQâ@ÝàGï+å4ݱï�ð]êYâ4ÝÞaÝ ñ àYï ñ Ýà�êQã_Ý�Þò4è@ê®å4ïzêeò�ïzêYâCö

�å�êQâ@ã_Þ:ßzàaêYã_áémÝzó�øJݲá�ï+åMêQàYãmò4è@êYݲ߮å4Ý�ø é_ÝßzàYå@ã_å4ë`êQÝ�áVâ4å4ã��]è@Ý�"+ß<6,%�#='2%?>�.�8@.�8�%�#=+7'0+:9A# %�&B8�C�jÝ®ã_åMêYàYï]í4è4áÝeêQâ@ã_Þ�áï+å@áÝ ñ ê`ßzå4í ñ àYïcî]ã_í@Ý�ß¢Þ ñ Ýá�ãmúvá ñ àYãmå4áã ñ é_Ý;êYï�ßzí��aè4ÞaêÄêQâ4Ý®é_ÝßzàYå]õã_å4ë¾àQß�êYÝzó�åvßzæ¹ÝémìºêYâ4ÝD�ùï?E�� ñ àYãmå4áã ñ é_Ý�ó¸ÞaêVß�å4í4ã_å@ë¾ðWï+àF�B�äã_å½ïzàAEGÝ�ßzàaåG�¸ßzÞaêöH I�ùÝÞYè4á�áÝ�ÞYÞaðWè@é_émìûí4Ý�î+Ý�é_ï ñ ß�å4í ß ñ@ñ émì�êYâ4ÝJ�ùï?E�� ñ àYã_å@áã ñ é_ݳøeãmêYâ4ã_åûí4ã��.ÝàaÝåMê�é_Ý�ß�àYå4ãmå4ëß ñ4ñ àaïMßzáVâ4Ý�ÞöLK¢ã¬î+Ý�åùêQâ@ÝÅå4ïcîzÝémê�ìûïzðJêQâ4ÝM�ùï?E�� ñ àaã_å4á�ã ñ émÝzó=øJÝÅðOß�áÝ êQâ4ݹáVâvßzémé_Ýå@ë+ÝïzðCí@Ý�êQÝ�àYæ¹ã_å4ãmå4ë�øeâ4Ý�êYâ4Ýà;ßN�ùï?E��?õ�ò4ßzÞYÝ�í¾é_ÝßzàYå@ã_å4ë$ßzémë+ï+àYã¬êQâ4æ ã_ÞÄàQß�êQã_ïzåvßzévßzå@í¾áïzå0õî+Ý�àYë+Ý�åkêfßzá�áï+àaí4ã_å@ëjêQï�ï+è@à�ïcøeå¨ãmåMêQàYï]í4è4á�Ýí ñ àaï ñ ÝàaêYã_Ý�Þ�ïzð$æ�è4é¬êQã\ß�ë+ÝåMêÅé_Ý�ß�àYå4ãmå4ë

O

Page 3: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ßzé_ëzï+àYã¬êQâ4æ¹Þö?�ùÝ�ÞYâ4ïcøÁêYâ4Ý�àQß�êQã_ïzåvßzé_ã¬ê�ì ñ àYï ñ Ý�àaê�ìºßzå@íºøJÝ¢áï+åMêYàYã_ò@è@êQÝ�ß�êYâ4Ýï+àaÝ�êYã_á�ß�éñ àYï]ïzðÄïzðÄêQâ4Ý á�ï+åMî+Ýàaë+Ýå@áݾï�ð �ùï?E�� ë+àQß�í4ã_Ý�åkê$ß�ÞYáÝ�åMê�ãmåÑߺàaÝÞ�êQàYãmá�êYÝíûáé\ß�ÞYÞ�ïzðJãmê�õÝàYß�êQÝ�í½æÅß�êQàaã¬ô·ë+ßzæÅÝ�Þö7�ùÝ$êYâ4ÝåfÞYâ4ïcø Ýæ ñ ãmàYã_áßzéCàaÝÞYè@émêQÞ®ïzð:êQâ4Ý$áï+åMîzÝàYëzÝå4á�Ý ßzå4íàQß�êYã_ï+å4ßzé_ã¬ê�ì�ïzð?ßzåÅÝ�ô]êQÝ�å4í4Ý�í �ùï?E�� ßzémë+ï+àaãmêQâ@æ ßzå4í¾áï+æ ñ ßzàaÝ�ãmêYÞ ñ Ýà�ðWï+àYæÅßzå4á�Ý�ãmå�ßî�ßzàYãmÝ�ê�ì·ïzð:ëMßzæ¹Ý!ÞaãmêQè4ß�êQãmï+å4Þ`è4ÞaÝí ñ àYÝ�î]ãmï+è4ÞYé¬ì�òMìºïzêYâ4Ýà`émÝ�ßzàaå4ã_å4ë ß�é_ë+ï+àaãmêYâ4æÅÞ�ö

�`â4ÝJßzàaêYã_áémݱã_Þtï+àaëMßzå4ã��Ýí$ßzÞtðWï+émé_ïcøeÞö �åD�0Ý�á�êQãmï+å O øJݲí4Ý�ÞYá�àYã_ò�ݱêQâ4ÝÄÞaêYï0áVâ4ßzÞaêYã_áÄëMßzæ¹ÝðWàQßzæ¹Ý�øJï+à ��ßzÞ�ß�í4Ý�ÞYáàaã ñ êYã_ï+å ïzð¸êYâ4Ýeæ�è4émêYã\ßzëzÝåMê�émÝ�ßzàaå4ã_å4ë ñ àYï+ò4émÝæ5ö��ùÝeßzé_Þaï�Ý�ô@ßzæ³õã_å4ÝJâ4ïcø ñ àYÝ�î]ãmï+è4Þ êYÝáVâ4å4ã��kè4ÝÞ±âvß�îzÝ`ï+å4Ý;ïzð¸ê�øJï�áàaè4áã_ßzé0Þaâ4ï+à�êQáïzæÅãmå4ë+Þö,�å �0Ý�á�êQãmï+å �ø²Ý$í4Ý�ÞYáàaã_ò�Ý�êQâ4Ý�î�ßzàYã_ßzò4émÝ!é_ÝßzàYå4ãmå4ë³àQß�êQÝ!êQÝ�áVâ4å4ã��]è@Ý�ßzå@í5êYâ4ÝA�jï?E�� ñ àaã_å4á�ã ñ émÝzö �ùÝßzåvßzé¬ì:�Ý�ã¬ê�êYâ4Ýï+àaÝ�êYã_á�ß�é_émìÑïzå�ß�àYÝ�ÞaêQàaã_á�êQÝí�á�é\ßzÞaÞ�ïzðeë+ßzæÅÝ�Þó ñ àYïcî]ã_å4ë½ãmê�ïDîzÝàaáï+æ¹ÝÞêQâ4ݾÞYâ4ï+à�êQá�ï+æÅãmå4ë+Þ�ïzð ñ àYÝ�î0ãmï+è4Þ³ß�é_ë+ï+àaãmêYâ4æÅÞ�ö��å �0Ýá�êQãmï+å��½øJÝ·í4ÝÞaáàYãmò.Ý�ß ñ àQßzá�êQã�õá�ßzéeß�é_ë+ï+àaãmêYâ4æ êYâvß�ê¹Ý�ô]êYÝå4í4Þ¹êQâ4ãmÞ�êQÝ�áVâ4å4ã��kè4ݺêQïÑêQâ@Ý5ëzÝå4Ý�àQßzéeáé_ßzÞYÞ ïzðSÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹ÝÞ�ö�� ã_å4ßzé_é¬ì+ó¸ã_å �0Ý�á�êQãmï+å��¾ø²Ý ÞYâ@ïDø àYÝ�ÞYè4é¬êQÞ�í4Ý�æÅï+å@ÞaêQàYß�êQãmå4ë�êQâ@ÝÅß ñ4ñ é_ãmá�ßzò@ã_é_ã¬ê�ìßzå4í5Ý��.Ýá�êQãmîzÝå4Ý�ÞYÞSïzð:êYâ4Ý$ßzé_ëzï+àYã¬êQâ4æ¹ÞJøJÝ¢ã_åMêQàaï0í4è@áÝí=ö

� �.Õc×GÚ�����ÕDÛOÚ� ��������vÔ:Ø�����4Ö�Ô:ÛOÔ�

�åÅêYâ4ã_Þ�ÞYÝ�á�êYã_ï+å¹ø²Ý®ë+ãmîzÝ®ßzå¾ïcî+Ý�àaî]ã_Ý�øäïzð=êYâ4Ý®ÞaêQï]áVâvßzÞ�êQãmáSëMß�æÅÝ;ðWàYßzæÅÝ�ø²ïzà��¸ö?�jÝSßzé_Þaïã_åMêQàaï0í@è4áÝ;ê�øJï�í@ÝÞYãmàQßzò@é_Ý ñ àaï ñ Ý�àaêYã_ÝÞ�ïzð.æ�è4é¬êQã_ßzë+ÝåMê é_Ý�ß�àYå4ãmå4ë¢ßzé_ëzï+àYã¬êQâ4æ¹Þ�"�àQß�êYã_ï+å4ßzé¬õãmê�ì!ßzå4í¢áï+åMîzÝàYëzÝå4á�Ýzö��jݱêQâ@Ýå$Ý�ô@ßzæ¹ã_å4Ý ñ àaÝ�î]ã_ïzè4ÞGé_ÝßzàYå4ãmå4ëeßzémë+ï+àYã¬êQâ4æ¹Þ=Þ ñ Ý�áã¬úvá�ßzémémìáï+æ ñ ßzàaã_å4ë�êYâ4Ýæ øeãmêQâºàaÝÞ ñ Ýá�êSêYï¹êYâ4ÝÞaÝ�ê�ø²ï ñ àYï ñ Ýà�êQãmÝÞö

� C�� ��& )�3 �$%�!�&('*3#" %%$I8'&;# %%$I8)(@),#+*

,²Ý�ðWïzàYÝ ñ àYÝ�ÞYÝåMêYã_å4ë�êYâ4ÝeðWï+àYæÅßzéví4Ý�úvå4ãmêYã_ï+å¹ïzðCß�ÞaêYï0áVâ4ßzÞaêYã_á®ëMßzæ¹ÝeøJÝ�Ý�ô@ßzæÅãmå4Ý®ïzêQâ4Ý�ààYÝ�é\ß�êYÝí�æ¹ï]í4ÝémÞö��jÝÄò�Ýë+ãmå�òMì�Ý�ô@ßzæÅãmå4ã_å@ë�÷fßzà���ïDî.-!Ýá�ã_Þaã_ï+å0/±àYï]áÝÞaÞYÝ�Þ21 ß®ÞYã_å@ë+é_Ý�õßzë+Ý�åkêócæ�è4é¬êQã ñ é_Ý�Þ�êVß�êYÝ�ðWàYßzæ¹Ý�øJï+à��¸ö �ùÝÄêYâ4Ýå$Ý�ô@ßzæ¹ã_å4Ý�æÅß�êQàaã¬ô�ëMßzæ¹ÝÞ31 ßeæ�è4émêYã ñ émÝ�õßzë+Ý�åkêócÞYãmå4ë+é_Ý�Þ�êVß�êYÝ�ðWàYßzæ¹Ý�øJï+à��¸ö�� ãmåvßzé_é¬ì+ó�ø²ÝÄã_åMêQàaï0í@è4áݱêQâ@ÝÄÞ�êQï]áVâvßzÞ�êQã_áÄëMßzæ¹Ý�ðWàQß�æÅÝ�õø²ïzà��¸ó.øeâ4ãmáVâ�á�ß�å½ò�Ý�ÞYÝ�ÝåÑßzÞ®êQâ4Ý�æÅÝ�àYë+ãmå4ë ïzðÄ÷4-'/±Þ�ß�å4í½æÅß�êQàaã¬ôºë+ßzæÅÝ�Þö5-!è4Ý$êQïêQâ4ãmÞ�òvßzá5�kë+àaï+è4å4í¨ïzð$ëMßzæ¹Ý½êYâ4Ýï+à�ì ßzå@í ß�ë+ÝåMêaõ}òvßzÞaÝíäÞaì]ÞaêYÝæ¹Þó`øJÝ�øeã_é_éSè4ÞYÝ�êYâ4ÝêQÝ�àYæ¹ÞSß�ë+ÝåMê®ßzå4í ñ é_ßcìzÝàeã_åMêYÝàYáVâ4ßzå4ë+Ýßzò4émìzö

� C��?C�� 6G%�# *?),6.7D853�'8!�'*),+:9 # )�358 ! !�8 !

� 64%�#+*?),6<;:853�'8!�'*),+0=-# )�358 ! !?>)÷4-'/A@?>CBED O @ ãmÞ�ߢêYè ñ é_Ý�óF>HG5IKJLINMOI P<@�ó�øeâ4ÝàaÝQG�ã_Þ�êYâ4ÝÞYÝ�ê�ïzð@ÞaêVß�êQÝÞ�óRJÁãmÞtêYâ4ÝÄÞYÝ�ê ïzðvß�á�êQãmï+å4Þ�óSM ã_Þ:ßeêYàQßzå4ÞaãmêYã_ï+å¢ðWè4å4á�êQã_ïzåTGAUVJWUXG�Y Z\[]I^B`_7óßzå4íaP#ã_Þ¹ßÑàYÝ�ø;ßzàaíÆðWè4å@á�êQãmï+åaG�UWJ Y b®ö �`â4ݺêQàYßzå4ÞaãmêQãmï+å�ðWè4å4á�êQã_ïzåÆí4Ý�úvå4Ý�Þ�ßñ àYïzòvßzò4ãmé_ãmê�ì í@ã_ÞaêYàYãmò4è@êQãmï+åçïcîzÝà�å4Ý�ô]êºÞaêVß�êQÝÞºß�Þ�ßjðWè4å4á�êQãmï+å ïzð�êYâ4Ý�áè@àYàYÝ�åMêºÞaêVß�êQÝßzå4í¾êYâ4Ý!ß�ë+ÝåMê � Þ`ßzá�êQãmï+åCö �`â4Ý!àaÝ�ø²ßzàYí¾ðWè@å4á�êYã_ï+å�í@Ý�úvå4Ý�Þ²êQâ@Ý!àYÝ�ø;ßzàaí�àYÝ�áÝ�ãmî+Ý�í·øeâ4Ýå

Page 4: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ÞYÝ�é_Ýá�êQãmå4ë5ßzåûßzá�êYã_ï+å�ðWàaï+æ#êYâ4ݳë+ãmîzÝåûÞaêQß�êQÝ�ö��0ï+é¬î0ãmå4ë5÷4-'/±Þ¢áï+å@ÞYã_Þ�êQÞ¢ïzð�úvå4í@ã_å4ë5ßñ ïzé_ã_á�ì+ó � "2GWY J·ó?æ¾ß ñ4ñ ã_å@ëfÞ�êVß�êYÝÞ�êYï�ßzá�êQãmï+å4Þ�Þaï�ßzÞ$êQïfæ¾ß�ô0ãmæÅã��Ý í4ã_Þaáï+è@åkêYÝíðWè@êQè@àYÝ¢àYÝ�ø;ßzàaí5øeã¬êQâ5í4ã_Þaáï+è@åkêeðOßzá�êQï+à��?ö

÷4-'/±Þ�ßzàaÝ$êYâ4Ý�ðWï]áè4ÞSïzð±æ�è4áVâ�ï�ð�êQâ4Ý�àYÝ�ã_å@ðWï+àaáÝ�æÅÝ�åkê�é_ÝßzàYå4ãmå4ë4>7Ü E2@`ø²ïzà���> � D5��@�ö�`â4Ý�áàaè4áã_ßzé!àaÝÞYè@émê�êYâvß�ê�ðWï+àaæÅÞÅêQâ4Ý�òvß�ÞYã_Þ�ðWïzàÅêQâ@ã_Þ�øJï+à��Æã_Þ¾êYâ4Ý�Ý�ô0ã_Þ�êQÝ�å4áÝÑïzð�ßÞaêQß�êQãmï+åvßzà�ì·ßzå4íºí4Ý�êQÝ�àYæ¹ã_å4ãmÞaêQãmá ñ ï+é_ãmá�ì¹êQâvß�êeãmÞ`ï ñ êYã_æÅßzé)ö:}êeã_Þ`Þaè4áVâ�ß ñ ï+é_ãmá�ì¹êQâvß�êeãmÞêQâ4Ý�êQßzàYë+Ý�ê`ðWï+àeÜ E ßzé_ëzï+àYã¬êQâ4æ¹Þö

� C��?C � 6G%�&(#='���" %%$I8 !

� $ %�&2#='��M9?%%$I8`ï+à'!�&2#�%�& 8*9�'*3 9?%%$I8 > �]D��E@`ã_ޮ߹êYè ñ émÝ >�� IKJ�� � � �]I P��� � � �E@�ó4øeâ@ÝàYÝ��ùãmÞêQâ4ݾå]è@æ�ò.Ý�à�ïzð ñ é_ß�ì+ÝàaÞóJ��;ãmÞ�êYâ4Ý�ÞYÝ�ê³ïzð®ßzá�êQãmï+å4Þ�ß�î�ßzãmé\ßzò4émݳêQï ñ é_ßcìzÝà��T>7ßzå@í�Jã_Þ!êYâ4Ý �aï+ã_åMê¢ß�á�êQãmï+å�Þ ñ ßzáÝ.JXU������ U J��E@�óCßzå4í P���ã_Þ ñ é\ß�ì+Ý�à���� Þ ñ ßcìzï�� ðWè4å@á�êQãmï+åJ Y b®ö7�`â4Ý ñ é_ß�ì+ÝàaÞ�ÞYÝémÝá�ê²ß�á�êQãmï+å4Þ�ðWàaï+æ êYâ4Ýãmà�ßcî�ßzãmé\ßzò@é_ÝÄÞYÝ�êJßzå@íÅàaÝáÝ�ãmîzÝSß ñ ß�ìzï��êQâvß�ê;í4Ý ñ Ý�å4í4Þ`ï+å4%�.0.+êYâ4Ý ñ é_ß�ì+ÝàaÞ��@ßzá�êYã_ï+å4Þ�ö �`â@ÝÞYÝ¢ß�àYÝ�ï�ðqêQÝå¾á�ßzémé_ÝíÅæ¾ß�êQàYã�ô¹ëMßzæ¹ÝÞ�óÞYãmå4áÝ�êQâ@Ý0P��?ðWè@å4á�êYã_ï+å4Þeáßzåºò.Ý�øeàYã¬êYêYÝåfßzÞ���õ}í4ã_æ¹Ýå4Þaã_ï+å4ßzé=æÅß�êQàaã_á�ÝÞö

�å³æ¾ß�êQàYã�ô$ëMßzæ¹ÝÞ ñ é\ß�ìzÝàYÞ�ß�àYÝJú4å4í4ã_å@ë!ÞaêYàQß�êYÝë+ãmÝÞ:êYï!æÅß�ô0ã_æ¹ã��ݱêYâ4Ýãmà ñ ß�ì+ï�� ö � =�� # 8!�&(# %�& 8*9�1!ÞYÝ�é_Ý�á�êQÞ`Þaï+æ¹Ý�ßzá�êYã_ï+å·í@Ý�êQÝ�àYæ¹ã_å4ãmÞaêYã_á�ß�é_émìzö � $ '�� 8 ;�!�&2# %�&B8*9�1�ÞYÝémÝá�êQÞeßzá�êQã_ïzå4Þßzáá�ï+àYí@ã_å4ë¾êYïºß ñ àaï+òvßzò4ãmé_ã¬ê�ìºí4ã_Þ�êQàYãmò4è@êYã_ï+åfïDîzÝà�êYâ4Ý ß�î�ßzã_é_ßzò4é_Ý$ßzá�êQãmï+å4Þö � Þ�êQàQß�êQÝë�ìðWï+à ñ é\ß�ì+Ý�à��Cã_Þ í4Ýå4ï�êQÝí �!�#"%$�&�> J�� @�ó�ã)ö Ýzö¬ó+ß ñ àaï+òvßzò@ã_é_ã¬ê�ì¢í4ã_Þ�êQàaã_ò4è@êYã_ï+å�ïcî+Ýà�êYâ4Ý;ÞaÝ�êïzð.ßzá�êYã_ï+å@Þ�ß�î�ßzã_é_ßzò4é_Ý�êQï!êYâvß�ê ñ é\ß�ì+Ý�àö � ñ è4àYÝ`Þ�êQàYß�êQÝ�ëzì�ãmÞ�ï+å4Ý;ï�ð�êYâ4ÝÞaÝ`í4ã_Þ�êQàaã_ò4è@êYã_ï+å@ÞêQâvß�ê²ß�ÞYÞYãmë+å4Þ�ÞYïzæÅÝ®ßzá�êQã_ïzå¾ß ñ àaï+òvßzò4ãmé_ã¬ê�ì�ïzð.ï+å4Ý�ö �ùÝeè4ÞYÝ®êQâ4Ýeå4ï�êVß�êYã_ï+å'�)(*��êQï¢àYÝ�ðWÝàêQïºß<�aï+ãmåMê�ó ñ ï+ÞaÞYã_ò@émì5æÅã�ô0ÝíCó.ÞaêQàYß�êQÝ�ëzì�ï�ð²ß�é_étêQâ4Ý ñ é_ß�ì+ÝàaÞ�Ý�ô0áémè4í4ãmå4ë ñ é\ß�ì+Ý�à+�Yó=ã)ö Ýzö¬ó�)(*�,"%$�& > J U-������U:J��.(/VU J���01?U-������U:J��%@�ö

2 ô4ß�æ ñ émÝ¢æ¾ß�êYàYã�ô·ëMßzæ¹ÝÞ®ßzàaÝ¢ÞYâ4ïcøeå�ãmå �:ßzò4émÝ B+ö�� ßzò@é_Ý B�>Oß @;ÞYâ4ïcøeÞ®êQâ4Ý¢æÅß�êQàaã_áÝ�ÞðWï+à:ßSÞYãmæ ñ é_ݱê�ø²ï�õ ñ é_ßcìzÝà:ëMßzæ¹ÝÄáßzé_émÝí�æ¾ß�êYáVâ4ã_å@ë ñ Ýå4å@ã_ÝÞ�ö��å$êQâ4ãmÞ:ë+ßzæÅÝÄÝ�ß�áVâ ñ é\ß�ìzÝàæ¾ß�ìÑÞaÝé_Ý�á�ê�ÝãmêYâ4Ýà 3<8�% ;�!¢ï+à54�%�'0. !�ö�}ð`êQâ@ÝÅáVâ4ïzã_áÝ�Þ³ßzàaݹêYâ4ݾÞYßzæÅÝ�óGêQâ4Ý�å�/±é\ß�ì+Ý�à BêVß���ÝÞeß�í4ïzé_é\ß�àÄðWàaï+æ /±é_ßcìzÝà O ö }ðtêQâ4Ý�ì·ßzàaÝ!í4ã��.ÝàaÝåMê�ó]êQâ4Ý�å:/�é_ß�ì+Ýà'B�ë+ãmîzÝÞeß�í4ï+émé\ßzàêQï./�é_ß�ì+Ýà O ö �`â4ÝSæ¾ß�êYàYãmáÝÞAP��ßzå4í�P�6²àYÝ ñ àYÝ�ÞYÝ�åkê²êQâ4Ý ñ ß�ì+ï��.ÞJðWï+à ñ é_ß�ì+ÝàaÞ B�ßzå4í O óøeãmêYâ5êYâ4Ý¢àYïcø<ßzå@ífá�ï+é_è4æ¹å4Þ`á�ï+àYàaÝÞ ñ ï+å4í@ã_å4ë êQï êQâ4Ý�ê�øJï�ßzá�êQãmï+å4Þ73<8�% ;�!eßzå4í84�%�'0. !�ö� ß�ò4é_Ý BL>Oò�@®ÞYâ@ïDøeÞ!êYâ4Ý�ë+ßzæÅÝ�Üeï0á5�+õC/:ß ñ Ýà�õB�0áãmÞYÞaï+àYÞ�ö;�å�êQâ@ã_Þ®ëMßzæ¹Ý ñ é_ß�ì+ÝàaÞ!ÞYÝ�é_Ý�á�êßzå�ß�á�êQãmï+å�ß�å4í·ß$øeãmå4å4Ý�àJãmÞJí4Ý�êQÝ�àYæ¹ã_å4Ý�í�òMì¹êYâ4Ý�àaè4é_Ý�Þ�"�9 %)=78�#±ò.Ýß�êQÞ:9 )�3 *�ó��3�'8! !�),#+!ò.Ýß�êQÞ 9 %)=78�#�óÄßzå@í;9 )�3 *ºò.Ýß�êQÞ �3�'8! !�),#+!�ö �`â4Ýføeãmå4å4Ýà�óJã¬ð�êYâ4Ýàaݽã_Þ¹ï+å4Ý�óÄêQß��zÝ�Þ·ßí4ï+émé\ßzà ðWàaï+æ êYâ4ÝSémï+ÞYÝ�àö?�:ßzò4émÝ B.>Oá^@�ÞYâ4ïcøeÞ;ߢáï]ï+àaí4ã_åvß�êQã_ïzå³ëMßzæ¹Ýeøeã¬êQâ ê�ø²ï ñ é\ß�ìzÝàYÞ�óÝ�ßzáVâºøeãmêYâ·ê�ø²ïÅßzá�êYã_ï+å@Þö �`â4Ý ñ é_ß�ì+ÝàaÞSïzå4émìÅàYÝ�áÝã¬î+Ý�ß ñ ß�ì+ï���øeâ4Ý�å5êYâ4Ý�ì�ÞYÝémÝá�ê®êYâ4ÝÞQßzæ¹Ý5ßzá�êYã_ï+å=ó±ò4è@ê¹êQâ4Ý ñ é\ß�ìzÝàYÞ¹âvß�î+Ýfí4ã��.ÝàaÝåMê ñ àYÝ�ðWÝàYÝ�å4áÝ�Þ�ßzÞ êQïÑøeâ4ãmáVâ ßzá�êQã_ïzå4ÞêQâ4Ý�ì·ø²ïzè4é_í ñ àaÝ�ðWÝà`êYïÅß�ë+àYÝ�Ý$ïzåCö

<Så4émã���Ý�÷ -'/�Þ�ó.ã¬êeã_Þeí4ã��Åá�è4émê®Ý�î+ÝåfêQï¾í@Ý�úvå4Ý$øeâvß�êSãmêeæ¹Ý�ßzå@Þ®êYï �aÞaï+émîzÝ� ¾ß¹æÅß�êQàaã¬ôëMßzæ¹Ýzö � ÞaêYàQß�êYÝëzì áßzå ï+å4émì ò.Ý5Ý�î�ßzémèvß�êQÝ�íÆã¬ðSêYâ4Ý5ïzêQâ4Ý�à ñ é\ß�ì+Ý�àYÞ��ÄÞ�êQàYß�êQÝ�ë+ã_Ý�Þ¾ßzàaÝ�kå4ïcøeåCö �`â4ã_Þ�á�ß�å¾ò�Ý®ãmé_émè4ÞaêYàQß�êYÝí³ã_å³êYâ4Ýeæ¾ß�êYáVâ4ã_å@ë ñ Ýå@å4ã_Ý�ÞJëMß�æÅÝ > � ßzò@é_Ý'B.>7ß @N@�ö �åêQâ4ãmÞ²ëMß�æÅÝ�ó0ã¬ð /±é\ß�ì+Ý�à O ã_ÞJë+ï+ãmå4ë�êYï ñ é\ß�ì=3<8�% ;�!�ó]êYâ4Ýå /±é\ß�ìzÝàQB � Þ;ï ñ êQã_æÅßzévÞ�êQàQß�êQÝë�ì

Page 5: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� �� �� �������� ��� 6�� � � � �� � ��� ��� �� � ������ � �

������ 6�� � � � �� ���� �� � �� 6�� ���� �� � �� ��� Ð ������©k�¬�M�$´=���k�k����£ � §#�����+��Â�¶O´=��¦4�V��¶)ÈM�V��£�£��c��£ � �+��� �z�c��¤k���k�������D���;�c���

°=��§]��� ��tÀ+�c��¦0��� �$�������hÀ®�D�c����£�¯��;�c����£ � ���=�c�k¤ � §(�.�����! V�V����¶O£��k� �D�c����£V¼D�c�k¤ � �+�=��£C�²�c���M�V���c��¶£��]�'�D�c���c¯ã_Þ�êQï ñ é\ß�ì 3<8�% ;�!�ókò4è@ê;ã¬ð /±é\ß�ìzÝà O ã_ÞÄë+ï+ãmå4ë�êQï ñ é\ß�ì 4�%�'0. !�ó+êYâ4Ýå�/�é_ß�ì+ÝàXB � Þ²ï ñ êQã_æÅßzéÞaêYàQß�êYÝëzì�ãmÞ�êQï ñ é_ßcì 4�%�'0. !�ö �]ïûêYâ4ÝàaÝ5ãmÞ³å4ïÑï ñ êYã_æÅßzé ñ è@àYݺÞaêYàQß�êYÝëzì�ãmå4í4Ý ñ Ý�å4í4ÝåMêïzð±êQâ@Ý�ï ñ4ñ ï+å4Ý�åMê�ö��]ã_æ¹ã_é\ß�àYémìzó]êYâ4ÝàaÝ�ã_ÞSå4ï¾ï ñ4ñ ïzå4ÝåMêaõ}ã_å4í@Ý ñ Ýå4í4Ý�åMê¢æÅã�ô@Ý�í½Þ�êQàQß�êQÝë�ìêQâvß�êSãmÞeï ñ êQãmæ¾ß�é)ö �äâvß�ê®í4ï]ÝÞ®Ý�ô0ã_Þ�ê�ãmÞeßzåfï ñ4ñ ïzå4ÝåMêaõ ;:8 =78�+5;:8�+7&GÞYï+émè@êQãmï+åCó0ï+àeÞYÝ�êSïzðÞYï+émè@êQãmï+å4Þ�ö �`â4ã_Þ`ãmÞeá�ßzémé_Ýíºß >�8 !�&#" # 8 ! =7),+ !�8�ö$ �&% Ô?ÛWÕDÛW×�ÔÁÒ & ),#<% 9?%%$I8(' &��78eò.Ý�Þaê�õ�àYÝ�Þ ñ ï+å4ÞaÝ�ðWè4å4á�êQãmï+å*) ),# =-.�%�1?8�#��+'2,;Ü��C>��)(*� @(''8!M&��78T!�8�& ),) %�.0.2!�&2#�%�& 8*9�'*8 !M&��$%�& %�#58I) =-&('�$ %�.�9�'06�8�+ & �78I),& �78�# =-.�%�1?8�#.- !0/T=-.�%�1 & �781 ),'0+7&�!�&2# %�&B8*9�1��)(*� C

�`â4ݳæÅß��aï+àSßzí@î�ßzå4á�Ýæ¹ÝåMê!êQâ4ß�ê�âvßzÞ�í4àYã¬î+Ýå�æ�è4áVâ�ïzð±êQâ@Ý�í4Ý�îzÝémï ñ æ¹ÝåMê�ïzð�æÅß�êQàaã¬ôëMßzæ¹ÝÞ�ßzå4í�ëMß�æÅÝ¢êQâ4Ý�ï+àaìfã_ÞeêQâ@Ý�å4ïzêYã_ï+åfïzðÄßÅò�ÝÞ�êaõ�àaÝÞ ñ ï+å@ÞYݳÝ��kè4ãmé_ãmò4àYãmè4æ ï+à32N%�! �854�� '0./'2>�#=' ��$ >76E@�ö$ �&% Ô?ÛWÕDÛW×�Ô �98 ��ßzÞaâfÝ��]è@ã_é_ãmò4àYãmè4æ '8!D% 35),.0.�853�&2'*),+ ),)Q!�&2#�%�& 8*9�'*8 !�) ),# %�.0. =-.�%�1 8�#+!('�!�:'�( '0&��

�!�," ,;��K> �)(*��@ �

�);' +;)X=-.�%�1 8�#<3�%�+�;:) >�8�&(& 8�#<>�1I3 �$%�+:9�'0+:9T!�&2# %�&B8*9�'*8 ! 9�'06�8�+ &��$%�& &��78D),&��78�# =-.�%�1 8�#+!35),+7&('0+/�78<& )�) ),.0.�)�( & �78D854�� '0./'2>�#=' ��$ !�&(# %�& 8*9�1 C

�äâvß�ê æÅß��zÝ�Þ³êQâ4ݺå4ïzêYã_ï+å�ï�ð�Ý��]è@ã_é_ãmò4àYãmè4æ áï+æ ñ Ý�é_émã_å4ëfã_Þ�êQâ4ß�ê¹ßzé_éJæ¾ß�êQàYã�ô ë+ßzæÅÝ�Þâvß�î+Ý�ßM��ßzÞaâfÝ��]è@ã_é_ãmò4àYãmè4æ5ó@ßzé¬êQâ4ïzè4ë+â�êQâ@ÝàYÝ$æÅßcì¾ò.Ý¢æ¹ï+àYÝ!êYâvßzåºï+å4Ý�ö

4 1 =78 ! ),)'64%�&2#='���" %%$I8 !�C=÷½ß�êQàYã�ô·ëMß�æÅÝ�Þ®áßzå5ò.Ý$è4ÞYÝ�ðWè4é_é¬ì�á�é\ßzÞaÞYãmú4Ýí�ß�ááïzàYí4ãmå4ë³êQïêQâ4Ý�Þ�êQàYè@á�êQè@àYÝÄïzð0êYâ4Ýãmà ñ ß�ì+ï��³ðWè@å4á�êYã_ï+å4Þ�ö��;ø²ïSáï+æ¹æ¹ï+å�áé_ßzÞYÞaÝÞtïzð4ë+ßzæÅÝ�ÞtßzàYÝ =��:# 8�./135),.0.�%?>�),# %�&('06�8;ßzå4í =�� # 8�./1 35)�$ =78�&2'0&2'06�8`ëMßzæ¹ÝÞ�ö��å ñ è4àaÝé¬ìºáï+émé\ßzò�ï+àQß�êQãmîzÝ!ëMßzæ¹ÝÞ0>Wï+àêQÝßzæ ëMß�æÅÝ�Þ @�ó ßzé_é²ßzë+Ý�åkêYÞ³âvß�î+Ý·êQâ@Ý·ÞQßzæ¹Ý ñ ß�ì+ï��çðWè4å4á�êYã_ï+å=ó ÞYïûßzå ßzá�êQãmï+å ã_å êYâ4Ýò.Ý�Þaê®ã_åMêYÝàYÝ�Þaê®ïzð:ï+å4Ý$ßzë+Ý�åMêSãmÞ`ã_å·êQâ@Ý$ò�ÝÞ�ê®ã_åMêQÝ�àYÝÞ�ê®ïzð�ß�é_é=êYâ4Ý$ßzë+ÝåMêYÞö

�å ñ è4àaÝémì�áï+æ ñ Ý�êQã¬êQã¬î+ݲë+ßzæÅÝ�ÞóDêQâ4Ý�àYÝeßzàaݲê�øJï�ß�ë+ÝåMêQÞ�ózøeâ4Ý�àYÝ`ï+å4Ý�� Þ ñ ßcìzï���ðWè4å@á�êQãmï+åã_Þ¢êQâ4ݹå4Ý�ëMß�êQã¬î+ÝÅïzð²êYâ4ݾïzêYâ4Ýà >Oã7ö Ý�ömóP�=<?> P76)@�ö��`â4ݾëMß�æÅÝ�Þ�ãmå �:ßzò4émÝ B�>Oß @¢ßzå4í� ß�ò4é_ÝTB >OòF@;ßzàaÝ�Ý�ô@ßzæ ñ é_Ý�Þ;ïzð:ÞYè4áVâfß�ëMßzæ¹Ýzö /±è4àYÝ�émì�á�ï+æ ñ Ý�êQãmêYãmîzÝ!ëMßzæ¹ÝÞ`ß�àYÝ�á�ß�é_é_Ý�í

Page 6: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� 8�# )."H! �]$ 9?%%$I8 ! ÞYãmå4áÝ`êQâ@Ý ñ ß�ìzï��·ðWè4å4á�êQã_ïzå4Þ�ÞYè4æ êYï ��ÝàYï$ï+à�Ý��kè4ã¬î�ßzé_Ý�åkêYémì�êQï$ÞYï+æ¹ÝïzêQâ@Ýà;á�ï+å4ÞaêQßzåMê�ö���êYâ4ÝàJëMßzæ¹ÝÞó0ã_å4á�é_è4í@ã_å4ë ñ è4àYÝ�émì¹áïzé_é\ß�ò.ï+àYß�êQã¬î+Ý®ëMßzæ¹ÝÞ�ó@ßzàaÝ!á�ß�é_é_Ý�í9:8�+;8�# %�. "H! �]$ 9?%%$I8 !�ö-� ßzò@é_Ý B >OáR@eã_Þ�ßzå�Ý�ô@ßzæ ñ émÝ�ïzð�Þaè4áVâûß¾ëMßzæ¹Ýzö��!å4Ý³ß ñ4ñ Ý�ß�é_ã_å@ëðWÝ�ß�êYè4àYݳï�ð �Ýàaï�õ�Þaè4æ ë+ßzæÅÝ�Þ!ã_ÞSêQâvß�ê�êQâ4Ý�ì�áïzåkêQßzã_åÑß�è@å4ã��kè4ÝM�SßzÞYâÑÝ��kè4ãmé_ãmò4àYãmè4æfö �`â4ã_Þ¹Ý��kè4ãmé_ãmò4àYãmè4æ áßzåçò�ÝfðWï+è@å4í ßzÞ êQâ@ÝfÞaï+é_è@êYã_ï+å êQïùßùàaÝé_ß�êQã¬î+Ýé¬ì�ÞYãmæ ñ é_Ý·é_ãmå4Ý�ß�àñ àYïzë+àQßzæ5ö 6 � ãmå4í4ã_å@ë�Ý��kè4ãmé_ã_ò@àYã\ß¹ã_å�ë+Ý�å4ÝàYßzé¬õ}ÞYè4æ#ëMßzæ¹ÝÞ�àaÝ��kè4ã_àaÝÞ$ß�æ¹ï+àYݳí4ã��¹áè4é¬ê�kèvßzí4àYß�êQãmá ñ àYï+ëzàQßzæ¹æÅãmå4ë�Þaï+é_è@êYã_ï+å >�� @�ö

� C��?C�� ��& )�3 �$%�!�&('*3#" %%$I8 !

�jÝ�øeãmé_é�å4ïcø ñ àYÝ�ÞYÝåMê êQâ@Ý�ÞaêYï0áVâvß�ÞaêQãmá·ëMßzæ¹ÝÅðWàYßzæÅÝ�ø²ïzà��¸ó á�ï+æ�ò4ãmå4ã_å4ë�÷4-'/±Þ ßzå4íæ¾ß�êQàYã�ô�ëMß�æÅÝ�Þö � !�&B)�3 �$%�!�&2'*3D9?%%$I8�ã_Þ$ߺêYè ñ émÝ4>�� I G5IKJ �� � � � INMOI P��� � � �E@�óCøeâ4Ý�àYÝ� ãmÞêQâ4Ý$åkè4æ�ò�Ýàeïzð ñ é\ß�ì+Ý�àYÞ�ó3Gºã_Þ;êYâ4Ý�ÞaÝ�êSïzð�Þ�êVß�êYÝÞ�ó�J��?ã_Þ`êQâ@Ý�ÞaÝ�êSïzð�ß�á�êQãmï+å4Þ®ß�î�ßzã_é_ßzò4é_ÝêQï ñ é\ß�ì+Ý�à��?>Oßzå4í J ã_ÞJêYâ4Ý �aï+ãmåMê;ßzá�êQãmï+å�Þ ñ ßzáÝXJ U ����� U#J�� @�ó]M¨ã_Þ�êQâ@Ý�êQàYßzå4ÞYã¬êQãmï+åðWè4å4á�êQã_ïzå G4U J U�G4Y Z [ I^B`_7óCß�å4í P���ã_Þ�êYâ4Ý�àaÝ�ø²ßzàYíÑðWè4å4á�êQã_ïzå�ðWï+à�êQâ@Ý �7êQâÑß�ë+ÝåMêG:U J Y bSö �`â4ãmÞSémï0ï �kÞeî+Ý�àaì5ÞYãmæÅãmé\ßzà²êYïÅêYâ4ݳ÷4-'/çðWàYßzæ¹Ý�øJï+à��ºÝ�ô0á�Ý ñ ê!êYâ4ÝàaÝ�ßzàaÝæ�è4é¬êQã ñ é_Ý ñ é\ß�ì+Ý�àYÞ�ÞaÝé_Ý�á�êYã_å4ëºßzá�êQãmï+å4Þ�ßzå@í�êQâ4ݳå4Ý�ô]ê¢ÞaêVß�êQÝ ßzå4íÑàaÝ�ø²ßzàYí4Þ�í@Ý ñ Ýå4íûï+åêQâ4Ý �aï+ã_åMêJßzá�êQã_ïzåÅïzð=êQâ4ï+ÞaÝ ñ é\ß�ì+Ý�àYÞö }ê � Þ²ß�é_ÞYï�ã_æ ñ ïzàaêVß�åkê±êYï�å4ï�êQã_á�Ý`êQâvß�êJÝ�ß�áVâ ñ é\ß�ìzÝàâvßzÞ5ãmêYÞ5ïcøeå ÞYÝ ñ ßzàQß�êYÝùàaÝ�ø²ßzàYí¨ðWè4å4á�êQã_ïzåCö �jÝûßzàaÝùãmåkêYÝàaÝÞaêYÝí ã_å¨í4Ý�êYÝàYæ¹ã_å@ã_å4ë ßáï+è@àYÞYÝeïzð=ßzá�êQã_ïzå ðWïzà�ß ñ é\ß�ì+Ý�à±ã_å³êQâ4ãmÞ±ÝåMî]ã_àaï+å4æ¹ÝåMê�ö:� ñ Ýá�ãmúváßzé_é¬ì+ó�ø²Ý`ø²ßzåMêÄêYï¢é_Ý�ß�àYåß�ÞaêQß�êQãmï+åvßzà�ì+ó¸êQâ4ï+è@ë+â ñ ïzÞYÞYãmò4émì5Þ�êQï]áVâvßzÞaêYã_á�ó ñ ï+é_ãmá�ì+ó � "5G4Y $�&�>8J�� @�ó�êQâvß�ê�æ¾ß ñ ÞÞaêQß�êQÝ�Þ$êYï½ß ñ àaï+òvßzò4ãmé_ã¬ê�ì½í4ãmÞaêYàYã_ò@è@êQãmï+å�ïcî+Ýà$ãmêYÞ$ßzá�êYã_ï+å4Þ�ö�`â4ݹë+ïMßzé±ãmÞ!êQïºúvå4íûÞYè4áVâß ñ ïzé_ã_á�ì·êQâvß�ê�æ¾ßDô@ãmæÅã��Ý�Þ®êYâ4Ý ñ é\ß�ìzÝà�� Þ!í4ãmÞYá�ï+è4åMêQÝ�íÑðWè0êQè4àaݳàYÝ�ø²ßzàaíÑøeã¬êQâ�í@ã_ÞYá�ï+è4åMêðOßzá�êYï+à��?ö

� å4ï+å0õ)êQàaãmî]ã\ßzé�àYÝ�ÞYè4é¬ê�ó ñ àYïcî+Ý�å�òMìN�]âvß ñ émÝ�ì >�� @.ðWï+à��Ýàaï�õ�Þaè4æÁëMß�æÅÝ�Þtßzå4í¢òMìA� ãmå �T>CBR[ @ðWï+à�ëzÝå4Ý�àQßzé�õ�ÞYè@æ�ëMß�æÅÝ�Þó?ã_Þ�êYâvß�ê�êYâ4ÝàaÝ�Ý�ô0ãmÞaê³Ý��]è@ã_é_ãmò4àYã_ß5Þaï+é_è0êQã_ïzå4Þ$ðWïzà�ÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹ÝÞ �aè4Þ�êSßzÞ`êQâ4Ý�ì·í4ï ðWï+à`æ¾ß�êQàYã�ô�ë+ßzæÅÝ�Þö

�]êQï]áVâvßzÞ�êQãmá�ëMßzæ¹ÝÞ�ßzàYݾ߽î+Ýà�ì åvß�êQè4àYßzéJÝ�ô]êQÝå@ÞYã_ïzå�ïzðS÷4-'/±Þ�êQï�æ�è4émêYã ñ émÝÅß�ë+ÝåMêQÞ�ö�`â4Ý�ì½ßzàaÝ�ßzémÞYïÅßzå½Ý�ô]êQÝå@ÞYã_ïzå�ïzð±æÅß�êQàaã¬ô�ëMßzæ¹ÝÞeêQï¾æ�è4émêYã ñ émÝ�ÞaêVß�êQÝÞ�ö)2�ßzáVâ½ÞaêVß�êQÝ$ã_åß¾ÞaêYï0áVâ4ßzÞaêYã_á�ëMß�æÅÝ�á�ßzå�ò�Ý�î]ã_Ý�ø²Ý�íùß�Þ!ß�æÅß�êQàaã¬ô5ëMßzæ¹Ý¢øeãmêQâ�êYâ4Ý ñ ß�ìzï��jêYï ñ é\ß�ìzÝà��ïzð��aïzã_åMê®ßzá�êYã_ï+å¾ãmåºÞaêVß�êQÝ���í4Ý�êQÝàaæÅãmå4Ýí5òMì P��K> �EI��@�ö � ðqêQÝà ñ é_ß�ì0ãmå4ë³êQâ4Ý¢æÅß�êQàaã¬ôëMßzæ¹Ý�ß�å4í�àYÝ�áÝã¬î]ã_å4ë¹êQâ4Ý ñ ßcìzï��.Þó.êYâ4Ý ñ é_ß�ì+ÝàaÞ�ßzàaÝ�êQàYßzå4ÞaãmêQãmï+å4Ý�ífêQï�ßzå4ïzêYâ4ÝàSÞaêVß�êQÝ>Oï+àÄæÅß�êQàaã¬ô ëMß�æÅÝ^@±í@Ý�êQÝ�àYæ¹ã_å4Ý�í¾òMì¹êQâ4Ý�ã_à;�aï+ã_åMê²ßzá�êYã_ï+å=ö �jÝSá�ßzå�ÞaÝÝ®êQâvß�êJÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹ÝÞ·êQâ@ÝåÁá�ï+åMêVßzãmå ò�ïzêYâ'÷4-'/±Þ�> � < BS@·ßzå4íÁæÅß�êYàYã¬ôçëMßzæ¹ÝÞ�>�� G���< BS@·ßzÞÞYè4ò@ÞYÝ�êYÞ�ïzðJêQâ4ݳðWàYßzæÅÝ�ø²ïzà��¸ö��`â4ÝàaÝÅãmÞ$ßzé_ÞaïfߺÞYÝ�áï+å@íjáïzå4å4Ýá�êQãmï+åùò�Ý�ê�øJÝÝ�å ÷4-'/±Þßzå4ífÞaêQï]áVâvßzÞ�êQãmá�ëMßzæ¹ÝÞ�ö�}ð�ßzé_éGò@è@ê�ïzå4Ý ñ é_ß�ì+Ýà®ã_å½ßÅÞ�êQï]áVâvßzÞaêYã_á$ëMßzæ¹Ý ñ é\ß�ìºß¹ú0ô@Ý�íCóêQâ4ïzè4ë+â ñ ï+ÞYÞaã_ò4é¬ì5ÞaêQï]áVâvßzÞ�êQãmázó ñ ï+émã_á�ì+óvêQâ4Ý�å�êQâ4Ý ñ àYïzò4é_Ý�æ ðWïzàSêQâ@Ý�àYÝ�æ¾ßzãmå4ã_å@ëÅß�ë+ÝåMêàYÝ�î+Ýà�êQÞºòvßzá5� êQï ßzå¨÷ -'/:ö@�`â@ã_Þ·ã_ÞÅò.Ý�á�ßzè@ÞYÝ�ú@ô0ã_å4ë êYâ4Ý�ïzêYâ4Ýà�ßzë+ÝåMêYÞ�� ñ ï+é_ãmáãmÝÞó °Ä©M�V���J�V�c���c�Q���k�c�¬��­¢§4�J���k������¦0���±��Ç��]������§k�a���+¼�§]�M�?��©k�V­$�c���@©k��¡c�;��Çz�k�c�]¦0��­c���v£±�c�k¤�������������V���a©k�c�M�c����§]��� ��� �a¯6 °Ä©M�·¡�c�¬�M���c«S��©M�5��Ç��k�¬����§k���¬�k� ��£���©M�f£��D���M�����D�j���Ñ��©k�·«m�D������µÄ���k���¬���M�����³¦k���c�c�a�c����¢�À���������� �"!#��$D�¢�¬��%'& �(! &*) % ���(!#� � ��+�, .- , 6./ �10 %'& ¯

Page 7: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

Ý�îzÝå ãmðeÞaêYï0áVâ4ßzÞaêYã_ázó æ¾ß���ÝÞ�êYâ4Ý�êQàYßzå4ÞYã¬êQãmï+å4Þ³÷fßzà���ïDî]ã_ßzåCó�í4Ý ñ Ý�å4í4ãmå4ë�ï+å4é¬ìjï+å êYâ4ÝàYÝ�æ¾ßzãmå4ã_å@ë ñ é\ß�ìzÝà�� ÞSßzá�êYã_ï+å4Þ�ö

4 1 =78 !J),)0��&B)�3 �$%�!�&2'*3�" %%$I8 !�C;�`â4ݳÞQßzæ¹Ý�á�é\ßzÞaÞYãmú4á�ß�êYã_ï+å5ðWï+à!æÅß�êQàaã¬ô5ëMßzæ¹ÝÞSá�ßzå�ò�Ýè4ÞYÝ�íùøeã¬êQâÑÞaêYï0áVâvß�ÞaêQãmá³ëMßzæ¹ÝÞ�ö /±è4àYÝ�émì�á�ï+é_é_ßzò.ïzàQß�êYãmî+Ý�ëMßzæ¹ÝÞ�óCï+à!êQÝßzæ�ëMß�æÅÝ�ÞóGßzàaÝï+å4Ý�Þ®øeâ4Ý�àYÝ�ßzé_é.êQâ4Ý�ßzë+Ý�åkêYÞSâ4ßcîzÝ$êYâ4Ý$ÞQßzæ¹Ý¢àYÝ�ø²ßzàaífðWè4å4á�êQãmï+åCö�/±è4àaÝémìºá�ï+æ ñ Ý�êQãmêYãmîzÝëMßzæ¹ÝÞ�ó:ï+à �Ý�àYï�õ}ÞYè4æ�ëMßzæ¹ÝÞó:ßzàaݾê�ø²ï�õ ñ é_ßcìzÝà�ë+ßzæÅÝ�Þ�øeâ4Ý�àYÝ·ï+å@Ý ñ é_ßcìzÝà�� Þ³àaÝ�ø²ßzàYíã_ÞSßzémø²ß�ì]Þ®êYâ4Ý�å4Ý�ëMß�êYãmî+Ý$ïzð�êYâ4Ý�ï�êQâ4Ý�à�� Þö Etã��zÝ$æ¾ß�êQàYã�ô·ëMß�æÅÝ�Þó��Ý�àYï�õ}ÞYè4æ ÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹ÝÞ±âvß�îzÝSß�è4å@ã��kè4Ý ��ß�ÞYâ¹Ý��kè4ã_émã_ò4àaã_è4æ5ó�ßzémêYâ4ï+è4ëzâ�úvå4í4ãmå4ë�êQâ4ãmÞ�Ý��kè4ãmé_ã_ò@àYã_è@æ ãmÞ±å4ïé_ï+å@ë+Ýà`ß�Þ;êQàYã¬î]ã\ßzé7ö �0â4ß ñ é_Ý�ì ñ àaÝÞaÝåMêQÝ�í�ßzémï+å4ë�øeãmêYâ·â4ã_Þ`Ý�ô0ã_ÞaêYÝå4á�Ý ñ àYï]ïzðV> � @;ß�î�ßzémè4ÝãmêYÝàQß�êQã_ïzå ßzé_ë+ïzàYãmêYâ4æ ß�å4íÅï�êQâ4Ý�àYÞÄâvß�î+Ý!ß�é_ÞYï¢Ý�ô4ß�æÅãmå4ÝíÅߢî�ßzàaã_Ý�ê�ì³ïzð=êYÝáVâ4å@ã��kè4ÝÞQ>KBEB%DB O @�ö

� C � 9 # ) =78�#�&2'*8 !

�å êQâ4ãmÞÅÞaÝá�êQã_ïzå ø²Ý ñ àYÝÞaÝåMê·ê�øJï ñ àYï ñ Ýà�êQãmÝÞÅêYâvß�ê�ßzàYÝfí4ÝÞaã_àQß�ò4é_Ý5ðWï+àÅæ�è4émêYã\ßzë+Ý�åMêé_ÝßzàYå4ãmå4ë`ßzémë+ï+àaãmêQâ@æÅÞ�ö=�ùÝ�øeã_émézÝ�ô4ß�æÅãmå4Ý�â4ïcøûø²Ý�é_é ñ àaÝ�î]ã_ïzè4Þ?ßzé_ë+ïzàYãmêYâ4æ¹Þ.âvß�îzÝJß�áVâ4ã_Ý�î+ÝíêQâ4Ý�ÞYÝ ñ àYï ñ Ý�àaêQãmÝÞ�ö��åkêYè4ãmêYãmîzÝémìzóCêQâ4Ý ñ àaï ñ ÝàaêYã_Ý�Þ¢ðWïzàYæÅßzé_ã��Ý�êYâ4Ý ã_í4ÝߺêYâvß�ê$ߺé_ÝßzàYå4Ý�àÞYâ4ïzè4é_í�émÝ�ßzàaå�ß®ò.Ý�Þaêaõ}àYÝ�Þ ñ ï+å4ÞYÝ;øeâ@Ýå ñ ï+ÞYÞaã_ò4émÝzö � émÞYï4ócêQâ@Ý;é_ÝßzàYå4Ý�à:Þaâ4ï+è4émí�âvß�î+ݲÞYï+æ¹Ýë+èvßzàYßzåMêQÝ�Ý$ï�ð á�ï+åMî+Ýàaë+Ýå@áÝzö-�jÝ�øeãmé_é=å@ïDøÁí4Ý�ú4å4Ý$êYâ4ÝÞaÝ ñ àYï ñ Ýà�êQã_Ý�Þ;ðWï+àYæÅßzémémì+ö

� ÖD×�� �kÖcÕ�� Ò - 9 %�&2'*),+-%�./'0&(1(/�� ) &��78A),&��78�# =-.�%�1?8�#+!��+=7),./'*3�'*8 ! 35),+76�8�#(9:8 & )<!�& %�&2'*),+-%�#=1=7),./'*3�'*8 !F&��78�+ &��78 .�8�%�#=+7'0+:9 %�. 9:),#='0&���$ ( '0.0. 35),+76�8�#(9:8 &B) %�=7),./'*3�14& �$%�&N'8! % >�8 !�&7"# 8 ! =7),+ !�8N&B) &��78 ),&��78�#?=-.�%�1?8�#+!��^=7),./'*3�'*8 !�C

�`â4ã_ÞSã_ÞSß¹ðOßzãmàYé¬ì�òvßzÞaã_á ñ àYï ñ Ý�àaê�ìfàYÝ��kè4ãmàYãmå4ë¹êYâ4Ý�émÝ�ßzàaå4ÝàeêQïÅé_ÝßzàYå½ßzå4í ñ é\ß�ì5ß¾ò�ÝÞaê�õàYÝ�Þ ñ ï+å4ÞYÝ ñ ï+é_ãmá�ì øeâ4Ý�åºêYâ4Ý�ïzêYâ4Ýà ñ é_ß�ì+ÝàaÞ ñ é\ß�ìÅÞaêQß�êQãmï+åvßzà�ì ñ ï+é_ãmáãmÝÞókãmå�øeâ4ã_áVâºá�ß�ÞYÝß�ò.Ý�Þaê�õ�àYÝ�Þ ñ ï+å4ÞaÝ ñ ï+émã_á�ìfí@ï0Ý�Þ!ã_å4í@ÝÝíÑÝ�ô@ãmÞaêö � Þ!øJݳï+ò4ÞaÝà�î+ÝíûÝ�ß�àYé_ãmÝà�ó¸øeâ@ÝåûïzêQâ4Ý�àñ é\ß�ìzÝàYÞ ñ é_ßcì�ÞaêVß�êQã_ïzåvßzàaì ñ ïzé_ã_á�ã_Ý�Þó�êYâ4ÝeÞaêYï0áVâvß�ÞaêQãmáSë+ßzæÅÝ`Þaã_æ ñ émì�ò�ÝáïzæÅÝ�Þ²ßzåÅ÷4-'/?ö�0ï4ó=êYâ4ã_Þ ñ àYï ñ Ýà�ê�ì�àYÝ��]è@ã_àYÝ�Þ�êQâvß�ê�êYâ4ݹßzé_ëzï+àYã¬êQâ4æ úvå4í@Þ�ß�åûï ñ êQãmæ¾ßzé ñ ï+é_ãmá�ì5êQï·êQâ4ãmÞ÷4-'/:ö

� ÖD×�� �kÖcÕ��a� - ),+76�8�#(9:8�+;3580/'4 �78 .�8�%�#=+;8�#V( '0.0.:+;85358 ! !�%�#�'0./1N35),+76�8�#(9:8@& )<% !�&*%�&('*),+"%�#=1 =7),./'*3�1 C�4 �:'8! =-# ) =78�#=&21�( '0.0.)� ! � %�.0./1 >�8<35),+5;�'0&('*),+;8 ;I),+ & �78 ),& �78�#N%�9:8�+7&�!7��!�'0+:9%�+ %�. 9:),#='0& ��$ )=# )�$ !�)�$I8D3�.�%�! ! ),)N.�8�%�#=+7'0+:9 %�. 9:),#='0& ��$.!�C

�`â4ã_ÞSáï+åMîzÝàYëzÝå4á�Ý ñ àYï ñ Ýà�ê�ì½àaÝ��kè4ã_àaÝÞ®êQâvß�êó=ß�ëMßzã_å@ÞaêSÞYï+æ¹Ý�á�é\ßzÞaÞ�ïzð�ïzêYâ4Ýà ñ é\ß�ìzÝàYÞ��é_ÝßzàYå4ãmå4ë�ß�é_ë+ï+àaãmêYâ4æÅÞ0>Wã_í4Ýßzé_é¬ì5ß�áé\ß�ÞYÞ!Ý�å4áï+æ ñ ßzÞaÞYãmå4ë·æÅïzÞaê ��è4ÞYÝ�ðWè4é� ·ß�é_ë+ï+àaãmêYâ4æÅÞ+@�óêQâ4ÝeémÝ�ßzàaå4Ýà�� Þ ñ ï+é_ãmá�ì¢øeã_émé@á�ï+åMî+Ýàaë+Ýzö:�vï+à�Ý�ô@ßzæ ñ é_Ýzózï+å4Ý`æ¹ã_ë+âMê±àaÝ�ðWÝà�êYï¢áï+åMî+Ý�àYë+Ý�å4áÝøeãmêYâûàaÝÞ ñ Ý�á�ê¢êQï ñ é_ßcìzÝàaÞ!øeãmêQâÑÞ�êVß�êYã_ï+åvß�àaì ñ ï+émã_á�ã_ÝÞ�ó.ïzà�áï+åMî+Ý�àYë+Ý�å4áݹøeãmêYâ�àYÝÞ ñ Ý�á�êêQï àQß�êQã_ïzåvßzé ñ é\ß�ì+Ý�àYÞö

�å�êQâ4ãmÞ ñ ß ñ Ý�àó.øJÝ�ðWï]áè4Þ�ï+å�áï+åMîzÝàYëzÝå4á�ݹãmåfêYâ4Ý�á�ß�ÞYݳïzð�ÞaÝémð\õ ñ é\ß�ìzö-�`â4ß�ê�ã_Þ�ó.ã¬ðÄßzé_éêQâ4Ý ñ é_ß�ì+ÝàaÞJè@ÞYÝeêQâ4Ý®ÞQßzæ¹Ý`é_ÝßzàYå@ã_å4ë$ßzémë+ï+àYã¬êQâ4æ5ó�í4ï�êQâ4Ý ñ é\ß�ìzÝàYÞ�� ñ ï+émã_á�ã_ÝÞ áï+åMî+Ý�àYë+Ý��

6

Page 8: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�`â4ã_Þ�ã_ÞSß�áàYè@áã\ß�é ßzå@í�í4ã��¹á�è4émê�ÞaêQÝ ñ êQïcø²ßzàYí4Þ�áï+åMî+Ý�àYë+Ý�å4áݹßzë+ßzã_å4Þ�ê!æ¹ï+àYÝ$ë+Ý�å4ÝàYßzéáé_ßzÞYÞaÝÞ�ïzð ñ é_ßcìzÝàaÞö��åûßzí4í4ã¬êQãmï+åCó¸ã_ë+å@ï+àYãmå4ë¾êQâ@Ý ñ ïzÞYÞYãmò4ã_émãmê�ì5ïzðÄÞYÝ�émð\õ ñ é\ß�ì5æ¾ß��zÝÞ!êYâ4Ýåvß � � î+Ý`ßzÞaÞYè4æ ñ êYã_ï+å�êYâvß�ê±ï�êQâ4Ý�à ñ é\ß�ìzÝàYÞ�ß�àYÝ;ãmå�ÞYï+æ¹ÝJø²ß�ì�ãmå@ðWÝàaã_ï+à?ÞYãmå4áÝ;êYâ4Ý�ì�á�ßzå@å4ïzêò.Ý¢è4Þaã_å4ë¹ßzå5ã_í@ÝåMêQãmá�ßzé=ßzé_ë+ïzàYãmêYâ4æ5ö

9 8�.�%�&('*),+ ! �:' = & )�� 4��:'0./'2>�#='2%?C � é¬êQâ4ïzè4ë+â�êQâ4Ý�ÞYÝ ñ àYï ñ Ýà�êQãmÝÞtí4ï�å@ïzê?Ý�ô ñ é_ãmáã¬êQémìSàYÝ�é\ß�êYݱêQïå4ïzêYã_ï+å4Þ=ïzð@Ý��kè4ã_émã_ò4àaã\ß@óVêQâ@ÝàYÝ�ãmÞGß`ÞaêQàaï+å4ëeàYÝ�é\ß�êYã_ï+å@ÞYâ4ã ñ ö�}ð@ßzémé�êQâ@Ý ñ é\ß�ì+Ý�àYÞtè4ÞaÝÄàYß�êQãmï+åvßzéé_ÝßzàYå4ãmå4ë¹ßzé_ëzï+àYã¬êQâ4æ¹Þ`ßzå4í5êQâ4Ý�ã_à ñ ïzé_ã_á�ã_Ý�Þ`áï+åMî+Ý�àYë+Ý�ó�êYâ4Ý�ì5æ�è@ÞaêSâvß�î+Ý�á�ï+åMî+Ý�àYë+Ý�í�êQïßzåjÝ��kè4ã_émã_ò4àaã_è4æ5ö �`â@ã_Þ$á�ßzåùò.Ý ÞYÝ�Ýå òMìûáïzå4ÞYãmí4Ýàaã_å4ë5ï+å4ݹïzð²êYâ4ݹàQß�êYã_ï+åvß�é ñ é\ß�ìzÝàYÞ�"ÞYãmå4áÝ êQâ4ݹïzêYâ4Ýà ñ é\ß�ìzÝàYÞ�áï+åMîzÝàYëzÝÅêQï½ß5Þ�êVß�êYã_ï+å4ßzàaì ñ ï+émã_á�ìzóGãmê¢øeã_émé�áïzåkîzÝàaë+ݾêQïfßò.Ý�Þaê�õ�àYÝ�Þ ñ ï+å4ÞaÝ�ò�Ýáßzè4ÞYÝ¢ã¬ê`ã_Þ;àYß�êQãmï+åvßzé7ö �]ã_å4á�Ý!êQâ4ãmÞ;ã_Þ;êYàYè4Ý!ðWï+à;ßzé_é�êQâ4Ý ñ é_ß�ì+ÝàaÞó4êYâ4ÝåêQâ4Ý`àaÝÞaè4émêYã_å4ë ñ ï+émã_áãmÝÞ?æ�è4Þ�ê±ò.Ýeß�å³Ý��kè4ã_émã_ò4àaã_è4æ >Wã)ö Ýzö¬ózÝßzáVâ ñ é\ß�ì+Ý�à�ã_Þ ñ é\ß�ì]ã_å4ë!ß!ò.Ý�ÞaêàYÝ�Þ ñ ï+å4ÞYÝ�êQïeêQâ@ÝÄï�êQâ4Ý�à ñ é_ß�ì+ÝàaÞ @�ö,�0ïSÝ��kè4ã_émã_ò4àaã\ß`ßzàaÝ�ú0ô@Ý�í ñ ï+ã_åMêYÞGïzð4àYß�êQãmï+åvßzé�é_Ý�ß�àYå4ãmå4ëßzé_ëzï+àYã¬êQâ4æ¹Þö �å¨ßzí4í4ã¬êQãmï+åCóÄãmð�ßzé_é®êQâ4Ý ñ é\ß�ì+Ý�àYÞ·è4ÞaÝÑêYâ4Ý�ÞQß�æÅÝ�émÝ�ßzàaå4ã_å4ë ßzé_ë+ïzàYãmêYâ4æßzå4í�ã¬ê � Þ�àYß�êQãmï+åvßzé?ßzå4í½áï+åMî+Ý�àYë+Ý�åMê�ãmå½ÞaÝémð\õ ñ é\ß�ìzó¸êYâ4Ýå�êYâ4Ý ñ é_ß�ì+ÝàaÞ�ßzàaÝ�ë+èvß�àQßzåMêQÝ�ÝíêQïfáï+åMî+Ý�àYë+ÝÅêQï�ß ��ßzÞaâ Ý��kè4ãmé_ãmò4àYãmè4æfö;�`â4ã_Þ$ã_Þ$ò.Ý�á�ßzè@ÞYݾêYâ4ÝÅá�ï+åMî+Ý�àYë+Ý�åkê ñ àYï ñ Ýà�ê�ìë+èvßzàYßzåMêQÝ�ÝÞ�á�ï+åMî+Ý�àYë+Ý�å4áÝ�óGßzå4ífòkìºêYâ4Ý ñ àYÝ�î]ãmï+è4Þ®àYÝÞaè4émêó¸ãmð êYâ4Ý�ì5á�ï+åMî+Ýàaë+Ýzó.ãmê®æ�è4Þ�êò.Ý�êYïÅß�åfÝ��]è@ã_é_ãmò4àYãmè4æ5ö

� C�� 9 # 8�6�'*) ��! 8 . 9:),#='0&���$.!

�]êQï]áVâvßzÞ�êQãmáÄë+ßzæÅÝ�ÞGâvß�î+Ý�ò�ÝÝå�ÞaêYè4í4ã_Ý�í$ðWïzàGæ¾ßzåMìSì+Ý�ß�àYÞ:ßzå4í$ß`å]è@æ�ò.Ý�àtïzð4ß�é_ë+ï+àaãmêYâ4æÅÞâvß�î+ÝÅò.Ý�Ýå ñ àaï ñ ï+ÞYÝ�íjðWï+à �aÞYï+é¬î]ã_å4ë ·êYâ4ÝÞaݾëMßzæ¹ÝÞ�ö��`â4ÝÞaÝ·ßzé_ëzï+àYã¬êQâ4æ¹Þ�âvß�î+ÝÅáï+æ¹Ýò.ï�êQâ ï+è@ê�ïzð�êQâ@Ý`ëMßzæ¹Ý;êQâ4Ý�ï+àaì³á�ï+æ¹æ�è4å4ã¬ê�ì�ßzå@íCóMæÅïzàYÝ;àaÝáÝ�åMêQémìzó+êQâ4ÝeàaÝã_å0ðWï+àYá�Ýæ¹ÝåMêé_ÝßzàYå4ãmå4ë½á�ï+æ¹æ�è4å4ã¬ê�ì+ö � émêYâ4ï+è4ëzâjêQâ4ݺß�é_ë+ï+àaãmêYâ4æÅÞ¢í4ã��=Ý�à�ãmåjêQâ4Ý�ã_à�ßzÞYÞaè4æ ñ êQã_ïzå4Þ�ïzðøeâvß�êÅã_ÞM�kå4ïcøeå ßzå@íÆøeâvß�êÅáïzåkêYàYï+é`áßzåçò�ݺÝ�ô0Ýà�êQÝ�í ïcî+Ýà¹êQâ4Ýfßzë+Ý�åMêQÞó±êYâ4ݽß�é_ë+ï�õàYã¬êQâ4æ¹Þ�ÞaêYã_é_é âvß�î+ݹÞaêQàaã��kã_å@ë5Þaã_æ¹ã_é_ßzàYã¬ê�ì�>KB � @�ö��`â4ÝÅßzé_ë+ïzàYãmêYâ4æ¹Þ�áïzå4ÞYãmÞaê$ïzð`ß�åj÷ -'/ÞYï+é¬î]ã_å4ë5æÅÝ�áVâvßzå4ãmÞYæ >OÝ�ö ë@ömó?ÞYï+æ¹Ý ðWï+àYæ ïzð;êYÝæ ñ ïzàQßzé±í4ã��=Ý�àYÝ�å4áãmå4ë�@�ó?ßzå@í�ßfæÅß�êQàaã¬ôëMßzæ¹Ý·ÞYï+é¬î]ã_å4ëûæÅÝ�áVâvßzå4ãmÞYæ >WÝzö ë4ö¬óÄémã_å4Ýßzà ñ àaï+ë+àYßzæÅæ¹ã_å@ë�@�ö � ßzò@é_Ý O ÞYè4æ¹æ¾ß�àYã���ÝÞ¹ßåkè4æ�ò�Ýà�ï�ð�êQâ4Ý�ÞYݳß�é_ë+ï+àaãmêYâ4æÅÞ;ðWàaï+æ ò.ï�êQâ½ë+ßzæÅÝ¢êQâ@Ýï+à�ì½ß�å4í�àYÝ�ã_å@ðWïzàYáÝ�æÅÝ�åMê!é_ÝßzàYå]õã_å4ë@ó4á�ß�êYÝë+ïzàYã���ã_å4ë�êYâ4Ýæ òkì¾êQâ4Ý�ÞYÝ$áï+æ ñ ïzå4ÝåMêQÞ�ö

�jÝ`øeãmé_é@Ý�ô@ßzæÅãmå4Ý`æ¹ï+àYÝ;á�é_ï+ÞaÝé¬ì�êQâ@àYÝÝeÞ ñ Ý�áãmú4áSß�é_ë+ï+àaãmêYâ4æÅÞ?ðWàYï+æ êQâ4ÝeàaÝã_å0ðWï+àYá�Ýæ¹ÝåMêé_ÝßzàYå4ãmå4ë á�ï+æÅæ�è4å4ãmê�ìzö �åäß�í4í4ãmêYã_ï+åÆêQï ñ àaÝÞaÝåMêQãmå4ë�êQâ4ÝÑßzémë+ï+àaãmêQâ@æfó�øJÝ�øeã_émé®êYâ4ÝåÝ�ô@ßzæ¹ã_å4Ý�ãmê!ãmå�é_ãmë+âMê�ïzð�êYâ4Ý ñ àYï ñ Ý�àaêQãmÝÞ ñ àYÝÞaÝåMêQÝ�íùãmå �0Ýá�êQãmï+å O ö O ö;�`â4Ý�ú4àYÞaê$ß�é_ë+ï�õàYã¬êQâ4æ ãmÞ ñ àaï+òvßzò@émì·êQâ@Ý�æ¹ï+ÞaêSáï+æ¹æ¹ï+å4émì�ß ñ4ñ émã_Ý�í½é_ÝßzàYå@ã_å4ë¹ßzémë+ï+àYã¬êQâ4æ ðWï+àSæ�è4émêYã\ß�õë+ÝåMêeÞ�ì0Þ�êQÝ�æÅÞ�ö7�`â4ã_Þ`ãmÞ��aè4Þ�ê`êQâ4Ý¢ß ñ@ñ é_ãmá�ß�êYã_ï+åÅïzð:ß�ÞYã_å@ë+é_Ý�ßzë+ÝåMêeémÝ�ßzàaå4ã_å4ë�ßzé_ë+ïzàYãmêYâ4æ>OÝ�ö ë4ö¬ó��SõBEGÝ�ß�àYå4ãmå4ë�@�ó]øeâ4ã_émÝ�áï+æ ñ émÝ�êQÝ�émìÅã_ë+å@ï+àYãmå4ë�êQâ@Ý$ï�êQâ4Ý�àSß�ë+ÝåMêQÞ�ö�� �ùÝ�øeã_éméGßzé_ÞaïÝ�ô@ßzæ¹ã_å4Ý®ê�ø²ï³Þ ñ Ý�áã¬úvá�ßzémémì¹æ�è4é¬êQã_ßzë+ÝåMêJé_ÝßzàYå4ãmå4ë�ßzé_ë+ïzàYãmêYâ4æ¹Þ�"]÷fãmå4ã_æÅß�ôkõ��'ßzå@í � ñ õñ ïzå4ÝåMê�÷fï0í@Ýé_émã_å4ë@ö;�`â4Ý�ÞYÝÅßzé_ë+ïzàYãmêYâ4æ¹Þ!âvß�î+ݹò.Ý�ÝåùÞYÝémÝá�êQÝíùÞYãmå4áÝ êQâ4Ý�ìÑàYÝ ñ àYÝ�ÞYÝåMê� ÈM���M�D���Q¶O���c���������������k���k�Å��£!�M�c�����k�V�¬�k¤M��¤º����°=��§]��� � �c£������¬£��k�c�!�¬�f��£������¬�Q�!£����k£����£����+��©]�c£��������D�c���³�c���c�c������©k� ¯�¿)���¢��Âc��£!�M������������¦k�����·�c¤k¤M����£�£®��©M���c��©M�V�����c������£��c�]¤��©M�V���V«m�c���S©k�c£��M�¢�¢�����a�hÀ��D�c�¢�®£��D��¡+���M���Q�D��¦4�D�M�����V¯

Page 9: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

Ð �����a�hÀ �`�c���Èz�D��¡c�V� � Ð�� ´

Èz�D��¡c�V� � Èz���z�a©k�c£��������;�c���Èz�D��¡c�V�

Ð � � Ð�� ´ � Èz���+��©]�c£������ �;�c�¢��Èz�D��¡c�V��;�c�¢�®°�©M�V�c��­ �������M«_�c���Q�����������¸�����a�k���M��.´ ° ��� � � È+©]��¦]���V­ ��� � ������ �� ���� � ��� ��.´ ° ��� � � ´=�D��������£���©M�V³�c�k¤��J¡+�h¶W¿7�0 �©]�� � �;� ����.´ ° �6��� � �t�c�ŤM�V��ú�c� � �;� � �� ´ ° ��� � � � �J� �c�]¤�÷�������¢�c� � � � �ÉC´ ° ��� � � ÉC���Q���������D�k£±´?����­ � �������;� � "!�!$#%'&� ��� ��#)(*&�+�', � �.- �0/�¶

1 �32 � � ��4 �576�809%6;:�<>=>?�@BADC8FEHG�ADIJCAFKL=>M'NJCPO0Q0CADRSRS=>?JQ TU6;:�V�M�KL= KP=>O0G�W;N�<XA�Y Z\[]:�KL@�RSN.O0CPAD<^I�= _.@�CP@�?�M�=>?�Q°=��§]��� �È+�]�¢�¢����­ �c«��c���c�c������©k�¢£²��� £��D��¡c�¢£����+��©]�c£������!�D�c����£V¯ �?�c��©5�c���c�c������©k���Q�D�����c���k£`�³�$�¶������ÀÑ�D�c���¾£��D��¡z�¬�M�5�Q�D��¦4�D�M�������c�]¤ù�c� Ð�� ´ £��D��¡z�¬�M�5�Q�D��¦4�D�M�����V¯�Ê+�`�c���·°�©M�V�c��­+Ë�c���c�c�a����©k�¢£±�c£�£��k���`��©M�e���a�c�k£��������D�³�c�]¤����Vµ ���a¤³«_�]�k�Q�����D�k£±�����®Âz�M��µÄ�v¯tÊ0�Ä�����M«_�c���Q������������������k���M�DË��c���c�c�a����©k�¢£;�D�k��­ �����Q����¡c�¢�c§0£��V��¡��������D�k£;�c« ��©M�������c�k£��������D���c�k¤����Vµ�����¤�«_�]�k�Y¶�����D�]£V¯k°�©M�`����¦0©k�c£�� V��¤������a©k�k��Çz�M��£������®«_�M����©M�V��¤M��£��Q����§@��¤����¹È+���Q�����D� � ¯a`¯êQâ4ݾòvßzÞYãmá�ß ñ@ñ àYïMß�áVâ4ÝÞ�êYï�é_ÝßzàYå4ãmå4ë½ãmå ÞaêYï0áVâ4ßzÞaêYã_á�ëMß�æÅÝ�Þö �`â4ݺßzé_ëzï+àYã¬êQâ4æ�òMìcbSèßzå4íI�ùÝémé_æÅßzå4>KBS�E@�ã_Þ²ßzå�Ý�ô]êYÝå4Þaã_ï+å·ïzð:÷5ã_å4ãmæ¾ß�ôkõ �¨êQï�ëzÝå4Ý�àQßzé�õ�ÞYè@æ ë+ßzæÅÝ�Þö:�`â4Ýãmàßzé_ëzï+àYã¬êQâ4æ5óMêQâ4ï+è@ë+âCó4àaÝ��kè4ã_àaÝÞeÞYïzæÅÝ�àaÝÞaêYàYãmá�êQã¬î+Ý¢ßzÞaÞYè4æ ñ êYã_ï+å4Þ`ãmå·ï+àYí@Ýà`êQï³ò�Ý¢ë+èvßzà�õßzåMêQÝ�Ýí·êQï³á�ï+åMî+Ýàaë+Ý#>KBR�]D3B �%@�ö:�jÝ!øeãmé_é¸å4ïzê`Ý�ô@ßzæÅãmå4ÝSêYâ4Ý¢ßzémë+ï+àYã¬êQâ4æ ã_å�êQâ@ã_Þ;ß�àaêQãmáémÝÞYãmå4áÝ¢ãmêeâ4ßzÞeÞYã_æ¹ã_é_ßzà ñ àYï ñ Ýà�êQãmÝÞ;êQï¾÷fãmå4ã_æÅß�ôkõ���ö

� C�� C�� d "Fe�8�%�#=+7'0+:9�SõBEGÝ�ßzàaå4ã_å@ëW> O [E@�ã_Þ$ßfÞaã_å4ëzé_Ý�õ�ßzë+Ý�åkê$émÝ�ßzàaå4ã_å4ë5ßzémë+ï+àaãmêQâ@æ#Þ ñ Ý�áãmú4á�ßzémémìÑí4Ý�ÞYã_ëzå4ÝíûêQïúvå4íÅï ñ êQãmæ¾ß�é ñ ï+é_ãmáã_Ý�Þ�ã_åÅ÷4-'/±Þ�ö:�å¹Þ ñ ãmêQÝeïzð=ãmêYÞ±ï+àYãmë+ã_åvß�é@ã_åMêYÝåMêÄãmê�âvßzÞ�ò�ÝÝ�åÅøeã_í@Ýémìè4ÞYÝ�í·ðWï+à;æ�è4é¬êQã_ßzë+ÝåMêJé_ÝßzàYå4ãmå4ë4ó]ßzå4í·å@ïzê;øeãmêYâ4ï+è@ê²ÞYè4á�áÝ�ÞYÞ.> O B D O O D B �E@�ö$}êeß�é_ÞYï�âvßzÞÞYï+æ¹Ý²êYâ4Ýï+àaÝ�êYã_á�ß�é4æÅÝ�àYã¬êQÞö � Þ±ïzò4ÞYÝ�àaî+Ý�íCóMøeâ4Ýå³êYâ4Ý`ïzêQâ@Ýà ñ é_ßcìzÝàaÞ ñ é\ß�ì�ß!ÞaêVß�êQã_ïzåvßzàaìÞaêYàQß�êYÝëzìzó:êQâ@ݾÞaêYï0áVâ4ßzÞaêYã_á¾ë+ßzæÅÝ �aò�Ýá�ï+æÅÝ�Þ� �ß�å ÷4-'/:ó:ßzå4íùêQâ4Ý�àYÝ�ðWïzàYÝ �Sõ�émÝ�ßzàaå4ã_å@ëøeã_émé?émÝ�ßzàaåfêYï ñ é\ß�ìfßzå�ï ñ êQãmæ¾ßzétàaÝÞ ñ ï+å4ÞaÝ�êQïÅêQâ4Ý�ï�êQâ4Ý�à ñ é_ßcìzÝàaÞö��]ï4ó �Sõ}é_Ý�ß�àYå4ãmå4ëÅãmÞàQß�êYã_ï+å4ßzé)ö

�!å êYâ4ÝeïzêQâ@Ýà�âvßzå4í=ó ��õ}é_ÝßzàYå4ãmå4ë!í4ï]ÝÞ�å4ï�ê ñ é\ß�ì�Þ�êQï]áVâvßzÞ�êQã_á ñ ï+é_ãmáãmÝÞö��`â4ã_Þ ñ àYÝ�îzÝåMêQÞ�Sõ�é_ÝßzàYå@ÝàYÞÄðWàYï+æ ò�Ýãmå4ë�áïzåkîzÝàaë+ÝåMêeã_å¾ÞYÝé¬ð\õ ñ é_ß�ì+ö:�`â4Ý!àYÝßzÞYïzå·ã_ÞJêYâvß�ê²ãmð �Sõ�émÝ�ßzàaå4ÝàaÞáï+åMîzÝàYëzÝzó@Þaã_å4á�ÝSêYâ4Ý�ì-� àYÝ!àYß�êQãmï+åvßzé7ó�êQâ@Ý�ìÅæ�è4ÞaêJáïzåkîzÝàaë+Ý�êQï�ßD�SßzÞYâ�Ý��kè4ã_émã_ò4àaã_è4æ5ö��åëMßzæ¹ÝÞ®øeâ4ÝàaÝ�êQâ4Ý�ïzå4émì5Ý��kè4ãmé_ãmò4àYã_ßÅßzàaÝ�æ¹ã¬ô0Ýí½Ý��kè4ã_émã_ò4àaã\ß >OÝ�ö ë4ö¬ó=æÅß�êYáVâ4ã_å4ë ñ Ý�å4å4ãmÝÞßzå4í àYï]á5�+õ ñ ß ñ Ýà�õ�Þaáã_ÞaÞYï+àaÞ¹ßzÞ í4ÝÞaáàYãmò.Ý�íÆãmå �0Ýá�êQã_ïzå O ö B+ö O @�ó �Sõ�é_ÝßzàYå@ÝàYÞ³á�ï+è4émí å@ïzêñ ïzÞYÞYãmò4émì�áï+åMî+Ý�àYë+Ý�ö �`â@ÝàYÝ�ßzàYÝ®ÞYãmå4ë+émÝ�õ�ß�ë+ÝåMê�é_ÝßzàYå@ã_å4ë�êQÝ�áVâ4å4ã��]è@ÝÞJêYâvß�êJßzàaÝSáß ñ ßzò4émÝ

Page 10: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� � �Å¿)�k�������c��� V� � ������� - ,��� ������§]��������������­c¼+�c�k¤ £��V��f���¢§4�`��©M�e���������k�¬�M�!�������c¯� � � ���V¦4�����V¼

� ��� �`��¡c���Ñ��©M�Å�V�M���������$£�������� � ¼tª0�k¤���©M� ��Çz�k������§k�����k� ¼ 0C¼?�c«;��©M�¹�$�������hÀ��D�c���� � ��� - , � % �(!� ¯� §(�³È+�������Q�Ä�c�Q�����D� , � �c�V�Q�c��¤k���k�����$��©M�e¤k�¬£�������§]�k�����D��0 � ¼]µÄ����©³£��D���`�QÀ+¦]���c�a�������D�v¯� �+���;§]£��V��¡+���M�����D�����}¶O�c�Q�����D� , ¼M���Vµ ���a¤��+¼k�c�k¤ �M�QÀ+�Ä£�������� ��� ¼

�.��� - , ��� � � � � �.��� - , � � � � ����� ��� � �0� -µJ©M�V���c¼

� ��� � � �t�c���M� ����� � ��� - , � % �(!��! #"

°=��§]��� `�²���c�c������©]��� Ð �¬�k���¢�Àz¶ � «m�c�S¦]����­c�V�%$�¯.°Ä©M���t�c���M� � �c¦4�V�������c�S�Q�D�¢¦]�M����£e��©k�¢¡�c�¬�M���c«±� V�V����¶O£��k� �¢��������À¾�D�c���c¼.�q¯ �c¯�¼v��©M�¢�QÀ+¦4���Q����¤·¦]��­c���Ñ���³��©k�¢¦]����­c�V�®��«?§4�c��©�¦]�¬��­c�V��£`¦0����­��©M��&J�c£�© ��Ç��k�¬����§k���¬�k�³¯ïzð ñ é\ß�ì]ã_å@ë½ÞaêYï0áVâ4ßzÞaêYã_á ñ ï+é_ãmáã_Ý�Þ�> O%� D O ��@�öL�`â4Ý�ÞYÝ�êQÝ�áVâ4å4ã��]è@ÝÞ æ¾ß�ã_å4é¬ìûßzí4í4àaÝÞYÞ�êYâ4Ýã_ÞaÞYè4Ý�Þ�ïzð ñ ßzà�êQã\ß�é�ï+ò4ÞaÝàaî�ßzò@ã_é_ã¬ê�ì�ß�å4í�'�ï+à�ðWè4å@á�êQãmï+åùß ñ4ñ àaïcô0ãmæ¾ß�êYã_ï+å�ãmåÑÞYã_å@ë+é_Ý�õ�ßzë+Ý�åMêí4Ýá�ã_Þaã_ï+å ñ àaï+ò4é_Ý�æÅÞ�ö �å¹ë+Ýå4Ý�àQßzé7ózêQâ@ã_Þ±í4ï]ÝÞ�å4ïzêÄÞaï+émîzÝeêYâ4Ý ñ àYïzò4é_Ý�æfózßzÞ±ø²Ý`øeã_émé4ÞYâ@ïDøê�ø²ï�é_Ý�ß�àYå4Ý�àYÞ²áß ñ ßzò@é_Ý�ï�ð ñ é\ß�ì]ã_å@ë�Þ�êQï]áVâvßzÞaêYã_á ñ ï+émã_á�ã_ÝÞ�ó+øeâ4ã_áVâ¾ÞaêQãmé_é¸í4ï�å4ïzê;á�ï+åMî+Ý�àYë+Ýã_åºÞYÝ�émð\õ ñ é\ß�ì >*�0Ý�Ý �0Ý�á�êYã_ï+å4Þ � ö B$ßzå4í:�4ö BS@�ö

� C�� C � 6 '0+7'�$ %�� "�dEGãmêYêYæ¾ß�å >KB`��@$ø²ßzÞ�êQâ4ÝÅúvàYÞ�ê³êQï�Ý�ô4ß�æÅãmå4Ý�ÞaêYï0áVâ4ßzÞaêYã_á�ëMß�æÅÝ�Þ³ßz޳߽ðWàYßzæÅÝ�ø²ïzà��ÑðWï+àæ�è4é¬êQã\ß�ë+ÝåMê¹àYÝ�ã_å@ðWï+àaáÝ�æÅÝ�åkê�é_Ý�ß�àYå4ãmå4ë4ö bSݽÝ�ô]êQÝ�å4í4Ýí êYâ4ݽêQàYßzí4ã¬êQã_ïzåvßzé �SõBEGÝ�ß�àYå4ãmå4ëßzé_ëzï+àYã¬êQâ4æ êYï ��Ýàaï�õ�Þaè4æ Þ�êQï]áVâvßzÞaêYã_á³ëMß�æÅÝ�Þö;�`â@ÝÅß�é_ë+ï+àaãmêYâ4æ ã_Þ!Þaâ4ïcøeåùãmåG� ß�ò4é_Ý � ö�`â4Ý�å4ïzêYã_ï+åÅïzð?ß�(<ðWè4å4á�êYã_ï+å¾ã_Þ;Ý�ô0êYÝå4í@Ýí·êQï�æÅßzãmåkêQßzã_å¹êQâ4ÝSîzß�é_è4ÝSïzð 1 ),'0+7&=ß�á�êQãmï+å4Þ�óßzå4í5êQâ4Ý$òvßzá5�kè ñ ï ñ Ý�àQß�êYã_ï+å5áïzæ ñ è0êQÝÞeêQâ@Ý$î�ßzémè4Ý�ïzð�Þ�êVß�êYÝÞSí4ã��.ÝàaÝåMêQé¬ì+óvòMìºàYÝ ñ é\ßzá�õã_å4ë�êYâ4Ýeæ¾ß�ô�ï ñ ÝàQß�êQï+à�øeã¬êQâ êQâ4Ý*)Äßzémè4Ý ��ï ñ ÝàYß�êQïzàö �`â4Ý%)Äßzémè4Ý ��ï ñ ÝàYß�êQïzà±áï+æ ñ è@êYÝÞêQâ4ÝÑÝ�ô ñ Ýá�êQÝ�í ñ ß�ì+ï�� ðWïzà ñ é\ß�ìzÝà � ãmð�ßzé_éSêQâ4Ý ñ é_ßcìzÝàaÞ ñ é\ß�ì+Ý�í¨êYâ4ÝÑè4å4ã��kè4Ý �SßzÞYâÝ��kè4ãmé_ã_ò@àYã_è@æfö7}ê�ã_Þ�ãmåMêQÝàaÝÞ�êQã_å@ë�êQï�å4ï�êQÝ�êYâvß�ê�êYâ4ã_ÞSã_ÞSòvßzÞYãmá�ßzémémì·êYâ4Ý�ï��¸õ ñ ï+é_ãmá�ìºàaÝã_å]õðWï+àYá�Ýæ¹ÝåMê±émÝ�ßzàaå4ã_å4ë�Ý��kè4ãmî�ßzémÝåMê±ïzð;�0â4ß ñ é_Ý�ì-� Þ±ï+àaã_ë+ãmåvßzé ��î�ßzémè4Ý;ã¬êQÝàYß�êQãmï+å �ßzé_ë+ïzàYãmêYâ4æðWï+à`ÞaêYï0áVâ4ßzÞaêYã_á¢ëMßzæ¹ÝÞ >�� @�ö

�`â4ã_Þ�ßzé_ëzï+àYã¬êQâ4æ#è4ÞYÝ�Þ�êQâ4ÝÅëMßzæ¹Ý³êQâ4Ý�ï+àYÝ�êQã_áÅáï+å@áÝ ñ ê�ïzð`Ý��kè4ã_émã_ò4àaã\ß·ã_åùï+àYí4Ý�à$êYï½Ý�Þ�õêQãmæ¾ß�êYÝÅêYâ4Ý�î�ßzé_è4ݾïzð!ß�Þ�êVß�êYÝzö!�`â@ã_Þ�î�ßzé_è@Ý�ã_Þ�êYâ4Ýå è4ÞaÝí êQï�è ñ ívß�êYÝ�êQâ4Ý�î�ßzémè4Ý�ïzðÞaêQß�êQÝ�Þ®êYâvß�êeêQàYßzå4ÞYã¬êQãmï+åºã_åMêQï³êQâ@Ý$Þ�êVß�êYÝzö�<SÞaã_å4ë êQâ@ã_Þeáï+æ ñ è@êQß�êQãmï+åCó]êQâ4Ý�÷fã_å@ã_æÅß�ôkõ��ßzé_ëzï+àYã¬êQâ4æ é_ÝßzàYå4Þ`êYâ4Ý ñ é\ß�ì+Ý�à�� Þ ñ ßzàaê®ïzð?êQâ4Ý<�SßzÞYâfÝ��kè4ã_émã_ò4àaã_è4æ ÞaêYàQß�êYÝëzìzö7�`â4Ý$ï+å4émìàYÝ��]è@ã_àYÝ�æÅÝ�åMê ã_Þ�êYâvß�ê³ò�ïzêYâ ñ é\ß�ì+Ý�àYÞ³Ý�ô@Ý�áè@êYÝ5ßzé_éÄïzðeêQâ4Ý�ã_à�ßzá�êYã_ï+å4Þ�ã_å@úvå@ãmêQÝ�émìûïzðqêYÝå>Oã7ö Ý�ömóvá�ï+æ ñ é_Ý�êYÝé¬ì�Ý�ô ñ émï+àYÝ$ßzéméGÞaêQß�êQÝ�Þ�ßzå@í½ßzá�êQãmï+å4Þö @ �`â4ã_ÞeãmÞeêYàYè4Ý$Ý�îzÝå�ã¬ð:êYâ4Ý$ïzêQâ4Ý�à

BR[

Page 11: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� � �Å¿)�k�������c��� V� � ����§]�����������¬��­c¼z�c�]¤ � �%� � � ��� �!� � �c�k¤�� ��� �!� � ¯� � � ���V¦4�����V¼� ����Ék���D� £�������� � £��������Q�Ä�c�Q�����D� , � ��©k���Ä�¢�ÀM���¢� V��£V¼

�%����

� ��� - , (*� �� ��� � � ��� - +�, � - , (*� / �

� §(���;§]£��V��¡+���M�!�c��©M�V�Ä���c������£V»4�c�Q�����D�k£ , (*� ¼k���Vµ�����¤��+¼k�c�k¤ �M�QÀ+��£�������� � � ¼� ��� - , � � � ��� �� � ��� - , � � � � � ��� ��� � �0�

�.��� - , (*� � � � ��� - , (*� � � �� ��� � �� ��� � � �

µJ©M�V���c¼, � ��, �1- , (*� �

� ��� � � �¢�À%� �%����

� ��� - , (*� �� ��� � � ��� - +�, �1- , (*� / � "

°=��§]��� ��²���c�c������©]��� �²¦k¦4�D�M����� Ð �+¤M�������k� � ¶O�¸�������k�¬�M�!«m�c��¦0����­c�V��$�¯ßzë+Ý�åkêÄí4ï]ÝÞ�å4ï�êJá�ï+åMî+Ý�àYë+ÝeêQï�êQâ@Ýã_à ñ ß�àaê�ïzð�êQâ4Ý �SßzÞYâÅÝ��kè4ã_émã_ò4àaã_è4æ5ó�ßzå4í¹ÞYï ñ àYïcî]ã_í@ÝÞßzå ) = =7),+;8�+7&7" '0+5;:8 =78�+5;:8�+7&�æÅÝ�êQâ4ï]í·ðWï+à`é_ÝßzàYå@ã_å4ë ßzåºÝ��]è@ã_é_ãmò4àYãmè4æ ÞYï+émè@êQãmï+åCö�`â4ã_Þ�ßzé_ëzï+àYã¬êQâ4æ ã_Þ®ë+èvßzàYßzåMêQÝÝ�í½êQï¾áï+åMî+Ý�àYë+Ý�ã_å½ÞaÝé¬ð\õ ñ é_ßcìzö �!å½êQâ4Ý�ïzêQâ@Ýà®âvßzå4í½êYâ4Ýßzé_ëzï+àYã¬êQâ4æ ã_Þ±å4ï�êJàYß�êQãmï+åvßzé7ö��²ïzå4ÞYãmí4ÝàÄßzå¹ï ñ4ñ ï+å4Ý�åkêÄãmå¹àaï0á5�+õ ñ ß ñ Ýà�õ}ÞYá�ã_ÞYÞaï+àYÞ ñ é_ßcì]ãmå4ëßzé_æ¹ï+Þ�ê:Ý�ô0áé_è@ÞYãmîzÝé¬ì'9 )�3 *�ó�ò4è@ê ñ é\ß�ì]ã_å4ë'9 %)=78�#?ßzå4í �3�'8! !�),#+!Gøeã¬êQâ�ÞYï+æ¹Ý²Þaæ¾ßzémé ñ àYïzò0õßzò4ãmé_ãmê�ìzö4÷5ã_å4ãmæ¾ß�ôkõ �'øeãmé_é�úvå4íºêQâ4Ý¢Ý��kè4ãmé_ãmò4àYãmè4æ ÞYï+émè@êQãmï+å·ïzð:àQßzå4í@ï+æÅã��ãmå4ë�ò�Ý�ê�øJÝÝåÝ�ßzáVâ·ï�ðtãmêQÞ²ßzá�êYã_ï+å@ÞJÝ��]è4ßzé_é¬ì+ó]ò4è@ê;êYâ4ã_ÞJã_ÞÄå4ïzê`ß�ò.Ý�Þaêaõ}àYÝ�Þ ñ ï+å4ÞYÝ#> ñ é\ß�ì]ã_å@ë�ï+å4é¬ìL9 %)=78�#ã_å·êQâ@ã_Þ`ÞYã¬êQèvß�êQã_ïzå·ã_Þ;êQâ@Ý$ïzå4émì¾ò.Ý�Þaêaõ}àYÝ�Þ ñ ï+å4ÞYÝ^@�ö

� C�� C�� 2= =7),+;8�+7& 6 )`;:8�.0./'0+:9

�`â4Ý�úvåvß�é�ßzémë+ï+àYã¬êQâ4æ øJݳÝ�ô@ßzæ¹ã_å@Ý�ã_Þ � ñ@ñ ï+å@ÝåMê�÷fï]í4Ýémé_ã_å@ë >CB 6E@Sï+à��zï+ã_åMê�õ � á�êQãmï+åEGÝ�ßzàaå4ÝàaÞ<>�� � EtÞ+@ >CB � @�ö �`â4Ý!ßzé_ë+ïzàYãmêYâ4æ ãmÞJÞaâ4ïcøeå·ã_åI�:ßzò4émÝ �4ö:�`â4ÝSã_í4Ýß�ã_Þ�êQï�é_Ý�ß�àYåÝ�ô ñ émã_áã¬ê�æ¹ï0í4Ý�é_Þ�ïzðJêQâ4Ý ïzêYâ4Ýà ñ é_ß�ì+ÝàaÞó?ßzÞaÞYè4æ¹ã_å4ë·êYâvß�ê�êQâ@Ý�ìûßzàaÝ ñ é\ß�ì]ã_å4ë5ßzá�áï+àaí0õã_å4ëûêQïjßùÞaêQß�êQãmï+åvßzà�ì ñ ïzé_ã_á�ì+ö �å êQâ4ݽßzé_ë+ïzàYãmêYâ4æ5ó�� > �EI� (*��@� � > ��@ ã_Þ êQâ4Ý5ÝÞ�êQãmæ¾ß�êYÝêQâ4Ý5ïzêYâ4Ýà ñ é\ß�ì+Ý�àYÞ¹øeã_é_é²ÞYÝémÝá�ê<�aï+ãmåkêÅßzá�êQãmï+å (*�SòvßzÞaÝí ï+å êQâ4Ý�ã_à ñ ßzÞ�ê ñ é_ß�ì+ö �`â4Ýñ é\ß�ìzÝà�êQâ4Ý�å ñ é\ß�ì]Þ�êQâ4Ý ï ñ êYã_æÅßzé?àYÝÞ ñ ïzå4ÞYݳêQï·êYâ4ã_Þ�Ý�ÞaêQãmæ¾ß�êQÝíÑí4ãmÞaêYàYã_ò@è@êQãmï+åCö1<®êQâ@Ýàßzå4í )�Ý�é_ï+ÞaïL>KB;6E@ÄãmåkîzÝÞ�êQã_ë+ß�êQÝ�í�êQâ4ãmÞ;ßzémë+ï+àYã¬êQâ4æ ã_å ��ÝàYï�õ�ÞYè@æ ëMß�æÅÝ�Þ;ßzå4í��²é\ßzè4Þ;ßzå4í,²ï+è@êYã_émã_ÝàQ>KB �E@²Ý�ô@ßzæ¹ã_å4Ý�í5ã¬ê`ðWï+à;ðWè4émémìÅáï+émé\ßzò�ï+àQß�êQãmîzÝ�æÅß�êQàaã¬ô¾ëMßzæ¹ÝÞ�ö

BEB

Page 12: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�`â4ÝSßzé_ë+ïzàYãmêYâ4æ ã_Þ�ÝÞaÞYÝåMêYã\ßzémémì�úvá�êQã¬êQã_ïzè4Þ ñ é\ß�ì:>CB � D�BEBR@±ãmå¹ß$àaÝã_å0ðWï+àYá�Ýæ¹ÝåMêÄé_Ý�ß�àYå4ãmå4ëáï+åMêYÝ�ô]ê�ö � ãmá�êQã¬êQãmï+è4Þ ñ é\ß�ì�ã_ޢ߷ëMß�æÅÝ�êYâ4Ýï+à�ìÑßzémë+ï+àYã¬êQâ4æ êYâvß�ê$âvßzÞ¢ò�ÝÝå ñ àaïDîzÝåûêQïúvå4í�Ý��kè4ã_émã_ò4àaã\ß;ã_å�áÝ�àaêVß�ã_å¢ê�ì ñ ÝÞ ïzðvëMßzæ¹ÝÞ�ö�,;ßzÞYãmá�ßzémémìzóêQâ4ÝÄúvá�êYãmêYã_ï+è4Þ ñ é_ß�ì$ßzé_ë+ïzàYãmêYâ4æâvßzÞ ñ é\ß�ì+Ý�àYÞJÞYÝémÝá�êQã_å@ë�êQâ4Ý�ßzá�êYã_ï+åÅß�êJÝ�ßzáVâ·ã¬êQÝ�àQß�êYã_ï+å êQâvß�êJøJï+è4émí¾âvß�î+Ý�àYÝá�Ýã¬î+Ýí�êYâ4Ýâ4ã_ëzâ4ÝÞ�ê�êQïzêQßzé ñ ß�ì+ï��<ã¬ð�ãmê¾âvßzí ò�ÝÝ�å ñ é\ß�ì+Ý�íäÝ�ô0áémè4ÞYã¬î+Ýé¬ìÆêYâ4àYïzè4ë+â4ï+è0ê�êQâ4Ý ñ ßzÞaêö� ã_á�êQã¬êQã_ïzè4Þ ñ é_ß�ì+ó+øeâ4Ý�å ñ é_ßcìzÝí¹òMì¹ßzé_é ñ é\ß�ì+Ý�àYÞókâvß�ÞÄò�ÝÝ�å ñ àYïcî+Ý�å¾êQï¢áïzåkîzÝàaë+ÝSêYï¢êYâ4Ý��ßzÞaâ Ý��kè4ã_émã_ò4àaã_è4æ ãmå ëMßzæ¹ÝÞ�êQâvß�ê³ßzàYÝ�ã¬êQÝ�àQß�êYÝí í4ïzæÅãmåvßzå4á�Ý�ÞYï+é¬î�ßzò4é_Ý�ö �`â@ÝÞYÝ5ßzàaÝëMßzæ¹ÝÞ¢ÞYè@áVâjêQâvß�ê�ã¬êQÝàYß�êQã¬î+Ý�émì�àaÝæ¹ïcî0ãmå4ë5í4ï+æ¹ã_åvß�êYÝíùßzá�êYã_ï+å@Þ >Wã)ö Ýzö¬ótßzá�êYã_ï+å@Þ¢øeâ@ï+ÞYÝñ ß�ì+ï��.ÞSßzàYÝ�émïDøJÝà`êYâvßzå5ÞYï+æ¹Ý�ïzêQâ@ÝàeÞaêYàQß�êYÝëzì·àaÝëMß�àYí4émÝÞYÞeïzð?êQâ@Ý$ï ñ4ñ ïzå4ÝåMê � Þ ñ é\ß�ì @øeã_émé®émÝ�ß�î+ݽßùÞaã_å4ë+émݽß�á�êQãmï+åçïzà¾ÞYÝ�ê�ïzð!Ý��kè4ãmî�ßzémÝåMê·ß�á�êQãmï+å4Þ�ö �åäß�í4í4ãmêYã_ï+å=ó±ã_å ��Ýàaï�õÞYè4æ#ëMßzæ¹ÝÞ®êQâ4Ý ñ é_ß�ì+ÝàaÞ��.Ýæ ñ ã_àaã_á�ß�é?í@ã_ÞaêYàYãmò4è@êQãmï+å½ï�ð²ß�á�êQãmï+å4Þ®êQâvß�ê�ßzàYÝ ñ é\ß�ì+Ý�í�øeã_é_éáï+åMîzÝàYëzÝ�êQï½êYâ4ݾëMß�æÅÝ�� ÞD��ßzÞaâ Ý��kè4ãmé_ã_ò@àYã_è@æfóCÝ�î+Ý�å êYâ4ï+è4ëzâjêQâ4ݾßzá�êYèvßzéJÞaêQàYß�êQÝ�ë+ã_Ý�Þò.Ý�ã_å4ë ñ é\ß�ì+Ý�íûæÅß�ì½å@ïzê�ö�`â@ݳò.Ý�âvß�î0ãmï+à�ïzð�êQâ@ݳï ñ4ñ ï+å4ÝåMê¢æ¹ï0í@Ýé_émã_å4ëÅßzémë+ï+àYã¬êQâ4æ ãmÞî+Ý�àaìºÞYãmæÅãmé\ßzà�ó]ßzémêYâ4ï+è4ë+âºå4ï�ê®ßzé_éCï�ð:êYâ4ÝÞaÝ�àaÝÞYè@émêQÞeâvß�îzÝ$ðWï+àaæ¾ß�é ñ àaï0ïzðWÞ�ö

EGã��zÝÑÞaã_å4ë+émÝ�õ�ßzë+ÝåMêºémÝ�ßzàaå4ÝàaÞó`ï ñ4ñ ï+å4Ý�åMêfæ¹ï]í4Ýémé_ã_å@ëjã_ÞºàYß�êQãmï+åvßzé7ö �`â4ãmÞºã_Þ·ò�Ýá�ß�è4ÞYÝÝ�îzÝåMêQèvß�é_émì¾êQâ4Ý ñ é\ß�ìzÝà�� Þ®ÝÞaêYã_æÅß�êQÝ�Þ`ïzð�ã¬êQÞ`ï ñ@ñ ï+å@ÝåMê � Þ ñ ï+émã_á�ì¹øeã_éméCáïzåkîzÝàaë+Ý�êYï êYâ4ÝêQàaè4Ý ñ ï+émã_á�ì+ö��]ã_å4á�ÝÄã¬êGúvå4í4Þtò�ÝÞ�êaõ�àaÝÞ ñ ï+å@ÞYÝ ñ ï+émã_áãmÝÞ.ë+ãmîzÝå$ãmêQÞGÝ�ÞaêYã_æÅß�êQÝ�Þ?Ý�î+Ý�åkêYèvßzémémì�ã¬êøeã_émé0á�ï+åMî+Ýàaë+ÝeêQï¢ß!ò�ÝÞaê�õ�àaÝÞ ñ ï+å4ÞaÝ ñ ï+émã_á�ì$êYï�êQâ4Ý`ï ñ@ñ ï+å@ÝåMê � Þ�êQàaè4Ý ñ ïzé_ã_á�ì+ö � émÞYï4ó�é_ã���ÝÞYãmå4ë+é_Ý�õ�ßzëzÝåMê�é_ÝßzàYå4ãmå4ë�ãmê�ãmÞ±å4ïzêÄáïzåkîzÝàaë+ÝåMê�ö:�`â4Ý®àYÝßzÞYï+å¹ã_Þ�ãmí4ÝåMêQãmá�ßzé("zã¬ê�ï+å4émì ñ é\ß�ì]Þñ è4àaÝ ñ ï+émã_áãmÝÞ�ó4ßzå4í5ÞYï áßzå4å4ïzê®á�ï+åMî+Ýàaë+Ý�ãmå·ëMßzæ¹ÝÞ`øeãmêYâºï+å4émì¾æÅã�ô0ÝíºÝ��kè4ãmé_ã_ò@àYã\ß0ö

� C�� C � 7N'8!�3 � ! !�'*),+

�å·ÞYè4æ¹æÅßzàaìzó �0ãmå4ë+émÝ�õ�ß�ë+ÝåMêJé_Ý�ß�àYå4Ý�àYÞ`ßzå@í �aï+ã_åMêaõ�ßzá�êYã_ï+å¹é_ÝßzàYå@ÝàYÞ;ßzàYÝ!ò�ïzêYâ�àQß�êYã_ï+å4ßzé)óò4è@ê�âvß�î+Ý�å4ïÅë+èvßzàYßzåMêQÝ�Ý�ïzð±á�ï+åMî+Ý�àYë+Ý�å4áÝ�öt÷fã_å@ã_æÅß�ôkõ�� ãmÞSë+è4ßzàQßzåMêYÝÝífêQï¾á�ï+åMî+Ý�àYë+ÝêQï¢êQâ4ÝeÝ��]è@ã_é_ãmò4àYãmè4æ5ó�ò4è0êJêYâ4ÝàaÝ�� ÞJå4ï$ë+èvß�àQßzåMêQÝ�Ý`êQâvß�ê�êYâ4ã_Þ�ã_Þ�ߢò�ÝÞaê�õ�àaÝÞ ñ ï+å4ÞaÝSêYï¢êYâ4Ýßzá�êYèvßzéGï ñ@ñ ï+å@ÝåMê�ö-�0ïÅ÷fãmå4ã_æÅß�ôkõ��<ã_Þ`å@ïzêeàQß�êYã_ï+å4ßzé)ö

� é¬êQâ4ï+è@ë+â�êQâ4Ý�àQß�êYã_ï+åvß�é=ßzå@í·áï+åMî+Ý�àYë+Ý�åMê ñ àaï ñ ÝàaêYã_Ý�Þ;í4ï³å4ïzê;Ýå4á�ï+æ ñ ßzÞYÞeßzémé�êYâvß�ê`ãmÞí4ÝÞaã_àYßzò4é_ݱãmå$ßeémÝ�ßzàaå4ã_å@ë;êQÝáVâ@å4ã��kè4Ý�ó�ã¬êtã_ÞGãmåkêYÝàaÝÞaêYã_å4ë`êYâvß�ê?ÞYãmæ�è4émêQßzå4Ý�ï+è4ÞYé¬ì!ß�áVâ4ã_Ý�î0ãmå4ëò.ï�êQâ ñ àYï ñ Ýà�êQãmÝÞ ã_Þ³î+Ý�àaì í4ã��¹áè4é¬ê�ö �`â4Ý5àYÝ�Þaê¹ïzð�êYâ4ã_Þ¹ßzà�êQãmáé_ÝÅøeã_é_é²é_ï]ï � ß�êÅßÑå4Ý�øêQÝ�áVâ4å4ã��kè4ÝÄêQï®í4ï�Ý�ô@ßzá�êYémì�êQâ4ß�ê�ócã7ö Ý�ömóDßeàQß�êYã_ï+å4ßzékßzå4í$áï+åMîzÝàYëzÝåMê±é_ÝßzàYå@ã_å4ë®ßzémë+ï+àYã¬êQâ4æ5ö�`â4Ý ã_í4Ýß�ã_Þ�êYï·è4ÞYݹ߾î�ßzàaã\ßzò4émÝ�émÝ�ßzàaå4ã_å4ë¾àQß�êYݳã_å�àQß�êQã_ïzåvßzé?é_Ý�ß�àYå4ãmå4ë·ßzémë+ï+àYã¬êQâ4æ¹ÞeêQïæ¾ß��zÝ�êQâ@Ýæ á�ï+åMî+Ý�àYë+Ý�åkêö �å �]Ýá�êYã_ï+å � øJÝ�øeã_éméSémï0ï �Æß�êºßjêYâ4ÝïzàYÝ�êYã_áßzé!ßzå4ßzémì]ÞYãmÞïzð!î�ßzàaã\ßzò4émÝ·é_ÝßzàYå4ãmå4ëûàQß�êYÝÞ¹ã_å ßÑàYÝ�ÞaêYàYã_á�êQÝ�í áé_ßzÞYÞ¹ïzð�ã¬êQÝàYß�êQÝ�íçæÅß�êQàaã¬ô ëMßzæ¹ÝÞö �å�0Ýá�êQãmï+å���øJÝ!øeã_émé¸ðWè@àaêQâ@Ýà²í@Ý�î+Ý�é_ï ñ êYâ4Ý�êYÝáVâ4å4ã��kè4Ý!ã_åMêYï³ß�æ¹ï+àYÝSë+Ýå4Ý�àQßzé�ÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹Ý�é_ÝßzàYå4Ý�àeßzå4í5ÞYâ4ïcøÁÝæ ñ ã_àaã_á�ß�é=àYÝ�ÞYè4é¬êQÞeïzð?êQâ4ãmÞeßzé_ëzï+àYã¬êQâ4æ5ö

B O

Page 13: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� �0��k׸ÖS�kÕcÛ7ÚE����·Ô�� � �Û ��å½êQâ@ã_ÞeÞYÝ�á�êQãmï+å½øJÝ�øeãmé_éGò�Ýë+ãmåfòMì5Ý�ô@ßzæ¹ã_å4ãmå4ë ë+àQß�í4ã_Ý�åkê�ßzÞaáÝåMê!ßzÞ!ß êQÝáVâ@å4ã��kè4Ý$ðWï+àé_ÝßzàYå4ãmå4ë�ãmå�ÞYãmæ ñ é_Ý�ê�ø²ï�õ ñ é\ß�ìzÝàó�ê�ø²ï�õ�ßzá�êYã_ï+å=ó�ë+Ý�å4ÝàYßzé¬õ}ÞYè4æ àaÝ ñ Ý�ß�êYÝí æ¾ß�êQàYã�ô$ëMßzæ¹ÝÞ�ö�jݳøeãmé_é émï0ï��½ß�ê$ß�êYâ4Ýï+àaÝ�êYã_á�ß�é±ßzåvßzé¬ì]ÞYã_Þ�ï�ðJêYâ4ã_Þ¢ßzémë+ï+àaãmêQâ@æfóvøeâ4ãmáVâùï+ò@ÞYÝà�î+Ý�Þ�êQâ4ß�êêQâ4Ý�ßzé_ë+ïzàYãmêYâ4æ ðOßzãmé_Þ`êQï¾áï+åMî+Ý�àYë+Ý�ö�jÝ$øeã_émétðWïzé_é_ïcø<òMìfã_åMêQàaï0í@è4áãmå4ëÅêYâ4Ý�áïzå4áÝ ñ ê�ïzðß¹î�ßzàaã\ßzò4émÝ�é_ÝßzàYå4ãmå4ë¹àQß�êYÝzó�ßzå4í ñ àYïcî+Ý$êQâvß�êSêYâ4ã_Þ®áï+å@áÝ ñ ê�ó�ã_åfðOß�á�ê�óváßzè4ÞaÝÞ!ë+àYßzí4ãmÝåMêßzÞYá�ÝåMê®êQï áï+åMîzÝàYëzÝzö

� C�� " # % ;�'*8�+7& 8 !�358�+7&

�0ã_å@ë+âCó��¢ÝßzàYå@Þó�ß�å4í ÷½ßzå4Þaï+è4à > O �E@¢Ý�ô@ßzæ¹ã_å4Ý�íjêQâ4ݾí@ì]åvßzæ¹ã_áÞ�ïzðeè4ÞYãmå4ë�ë+àYßzí4ãmÝåMêßzÞYá�ÝåMêJã_å�ê�øJï�õ ñ é_ß�ì+Ýà�ó+ê�ø²ï�õ�ßzá�êQã_ïzåCó+ãmêYÝàYß�êQÝ�í¹æÅß�êYàYã¬ô�ëMß�æÅÝ�Þö �ùÝ`á�ßzå¹àYÝ ñ àYÝ�ÞYÝåMêÄêQâ4ãmÞñ àYïzò4é_Ý�æ ßzÞ`ê�øJïÅæÅß�êQàaã_á�ÝÞó

P < �� �� � � 6� 6 � 6�6

���� P� < ��

�� � � 6� 6 � 6�6

���� �

2�ßzáVâ ñ é\ß�ì+Ý�à�ÞYÝ�é_Ý�á�êQÞ�ß�å ßzá�êYã_ï+å�ðWàaï+æ êQâ4Ý;ÞaÝ�ê���Bzó O�� øeâ4ãmáVâ í4Ý�êYÝàYæ¹ã_å@ÝÞ êYâ4Ý;àYÝ�ø;ß�àYí4Þï+à ñ ß�ì+ï��=ÞtêQï`êQâ@Ý ñ é\ß�ì+Ý�àYÞö�}ð0êQâ4Ý # )�( ñ é\ß�ì+Ý�àtÞYÝémÝá�êQÞ:ßzá�êYã_ï+å���ßzå4í�êYâ4Ý 35),. �]$ + ñ é\ß�ìzÝàÞYÝ�é_Ýá�êQÞ±ß�á�êQãmï+å��vóDêQâ4Ý�å�êQâ4ÝJàYïcø ñ é\ß�ì+Ý�à�àYÝ�áÝ�ãmî+Ý�Þ�ß ñ ß�ì+ï�� � ���Jßzå@í�êQâ4ÝJáï+émè4æÅå ñ é\ß�ìzÝààYÝ�áÝã¬î+Ý�Þ®êYâ4Ý ñ ß�ì+ï�� � ���cö�0ã_å@áÝ;êQâ@ã_Þ±ã_Þ�ß!ê�øJï�õ�ß�á�êQãmï+å ëMßzæ¹ÝzózߢÞ�êQàYß�êQÝ�ëzì:>Oã7ö Ý�ömó+ß ñ àYï+òvß�ò4ã_émãmê�ì$í4ã_Þ�êQàaã_ò4è@êYã_ï+å³ïcîzÝàêQâ4Ý$ê�ø²ï�ßcî�ßzãmé\ßzò@é_Ý¢ßzá�êQã_ïzå4Þ @`á�ßzå½ò.Ý$àYÝ ñ àYÝ�ÞYÝåMêYÝíûßzÞ!ß¹ÞYãmå4ë+é_Ý¢î�ßzé_è@Ýzö-EGÝ�ê! " Z [ I^B _ò.Ý�ß�ÞaêQàYß�êQÝ�ëzì5ðWï+àSêYâ4ݳàYïcø ñ é\ß�ìzÝàó�øeâ4ÝàaÝ" çáïzàYàYÝ�Þ ñ ï+å4í4Þ!êYï¾êQâ@Ý ñ àYïzòvßzò4ãmé_ãmê�ì·êYâ4Ýñ é\ß�ìzÝà$ÞYÝémÝá�êQÞ�êYâ4Ý úvàYÞ�ê�ßzá�êQãmï+åjß�å4í B3># ¨ãmÞ¢êYâ4Ý ñ àYï+ò4ßzò4ã_émãmê�ìfêQâ4Ý ñ é\ß�ìzÝà$ÞYÝémÝá�êQÞêQâ4Ý·ÞaÝá�ï+å4íÆßzá�êYã_ï+åCöL�0ãmæÅãmé\ßzàaémì+óGémÝ�ê%$ ò�ݺß�ÞaêYàQß�êYÝëzìùðWï+à�êQâ@Ý·áï+émè4æÅå ñ é\ß�ì+Ý�àöL�ùÝá�ßzåºá�ï+å4ÞYãmí4Ýà;êYâ4Ý �aï+ãmåkê²ÞaêYàQß�êYÝëzì >& I'$2@ÄßzÞeß ñ ïzã_åMê`ã_å b 6 áïzå4ÞaêYàQßzãmå4Ýí·êQï�êYâ4Ý�è4å4ã¬êÞ��kèvßzàaÝzö

�vï+à$ßzåMì ñ ßzã_à¢ïzð`Þ�êQàYß�êQÝ�ë+ã_Ý�Þ�>& I'$2@�óCøJݾáßzåjøeàaãmêQÝ êQâ@ÝÅÝ�ô ñ Ýá�êQÝ�í ñ ß�ì+ï��.Þ�êQâ@ÝÅàaïDøßzå4í á�ï+é_è@æÅå ñ é\ß�ìzÝà�øeãmé_é±àaÝáÝ�ãmîzÝzö!EGÝ�ê"(�S>) AI'$2@�ßzå4í*(��)>) AI'$2@�ò�ÝÅêYâ4ÝÞaÝ�Ý�ô ñ Ýá�êQÝíñ ß�ì+ï��.Þó¸àaÝÞ ñ Ýá�êQã¬î+Ýé¬ì+ö7�`â4Ý�åCó

(�R>) AI'$2@ <+ ,$ � �.-/ >CB�>0$2@ � 61- >CB�>* @2$ � 6 .- >KB�>* @ >KB�>3$2@ � 6�6<546 ,$7-8 > � 6 > � 6�6)@9-8$ > � 6 > � 6�6 @9- � 6�6 >CBS@

(��)>) AI'$2@ <+ ,$ � �.-/ V>KB�>0$2@ � 61- >KB�>* @2$ � 6 9- >KB�>* @ >KB�>3$2@ � 6�6<54 � �$:-/ > � 6 > � 6�6)@9-8$ > � 6 > � 6�6)@9- � 6�6 > O @

B �

Page 14: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

øeâ4ÝàaÝzó

4�< � ��> � 6 > � 6 9- � 6�64 � < � �!> � 6�> � 6 9- � 6�6 �� ñ é_ß�ì+ÝàSá�ßzåfå4ïcø áï+å4Þaã_í4Ý�àSêYâ4Ý�Ý��=Ý�á�ê�ï�ð±áVâvßzå4ëzã_å4ëÅãmêQÞ®ÞaêYàQß�êYÝëzì5ï+å½ãmêQÞ®Ý�ô ñ Ýá�êQÝíñ ß�ì+ï��:ö �`â4ã_Þ áßzåÆò�Ý5áï+æ ñ è@êYÝíÆßzÞ �aè4Þaê¹êQâ4Ý ñ ß�àaêQã_ßzé;í4Ý�àYã¬îzß�êQãmîzݺïzð�ã¬êQÞ Ý�ô ñ Ýá�êQÝíñ ß�ì+ï���øeã¬êQâºàYÝ�Þ ñ Ýá�êSêYïÅã¬êQÞ`ÞaêYàQß�êYÝëzìzó

� (��>& I'$2@� <5$ 4 - > � 6 > � 6�6)@ > � @

� (��`>& I'$2@� $ <+ �4 � - > � 6 !> � 6�6 @ � > ��@

�å êQâ4ݾë+àQßzí@ã_ÝåMê�ßzÞYá�ÝåMê¹ßzémë+ï+àYã¬êQâ4æ�ß ñ é\ß�ìzÝà�øeãmé_éÄßzí,�aè4Þ�ê³ãmêYÞ�Þ�êQàQß�êQÝë�ì ß�ðqêYÝà�Ý�ßzáVâãmêYÝàQß�êQã_ïzå Þaï ßzÞ¹êQïûã_å4á�àYÝßzÞYÝfãmêQÞ Ý�ô ñ Ýá�êQÝ�í ñ ß�ì+ï��.Þö �`â4ã_Þ¹æÅÝßzå4Þ êQâ4Ý ñ é\ß�ìzÝà øeã_é_éæÅïcîzݾêQâ4Ý�ã_à�ÞaêQàYß�êQÝ�ëzìùã_åjêYâ4Ý�í4ãmàYÝá�êQãmï+å ïzð`êYâ4Ý�áè@àYàYÝ�åMê ë+àQßzí@ã_ÝåMê�øeãmêQâjÞYï+æ¹Ý�ÞaêYÝ ñÞYã��Ýzó���ö }ð >& �� I'$��^@ÄßzàYÝ®êQâ4ÝSÞaêYàQß�êYÝë+ãmÝÞ²ïzå¾êQâ4Ý��]êQâ�ã¬êQÝ�àQß�êYã_ï+åCókß�å4í�ò�ïzêQâ ñ é\ß�ì+Ý�àYÞ`ßzàaÝè4ÞYãmå4ë ë+àQß�í4ã_Ý�åkê®ß�ÞYáÝ�åMêSêYâ4ÝåºêQâ4Ý¢å4Ý�ø<ÞaêYàQß�êYÝë+ãmÝÞ`øeã_émé=ò�Ýzó

�� 01< �� -�� (�S>& �� I'$��`@

� ��$�� 01< $�� -�

� (�R>) ��%I'$��`@� $�� �

}ð�êQâ@Ý�ë+àYßzí4ã_Ý�åMêSøeãmé_éCæ¹ïcî+Ý�êYâ4Ý�Þ�êQàYß�êQÝ�ëzì5ï+è@êSïzð êYâ4Ý�î�ßzémã_í ñ àYïzòvßzò4ãmé_ãmê�ì�Þ ñ ßzá�ÝL>Wã)ö Ýzö¬óêQâ4ݽè4å4ãmêÅÞ��kèvß�àYÝR@ÅêYâ4ÝåÆêQâ4Ý�ëzàQßzí4ãmÝåMê�ãmÞ ñ àYï,�aÝ�á�êQÝ�íäòvßzá5� ï+åçêQïùêQâ4Ý ñ àYï+òvß�ò4ã_émãmê�ìÞ ñ ß�áÝzö �`â4ã_Þ¢øeã_émé±ï+å4é¬ìÑï0á�áè4à�ï+åjêQâ@ÝÅò�ï+è4å4í4ßzàYãmÝÞ�ï�ð;êQâ4Ý ñ àYïzòvßzò4ãmé_ãmê�ì½Þ ñ ß�áÝzö �`â4Ý�kè4ÝÞ�êQã_ïzåûêYï5á�ï+å4Þaã_í4Ý�à!êQâ4Ý�åùãmÞ!øeâvß�ê¢á�ß�åûøJÝ Ý�ô ñ Ý�á�ê$øeã_émé âvß ñ@ñ Ý�åùã¬ðJò�ïzêYâ ñ é\ß�ì+Ý�àYÞßzàYÝ¢è4Þaã_å4ë ë+àYßzí4ãmÝåMê®ßzÞYá�ÝåMê®êQï è ñ ívß�êQÝ�êYâ4Ýãmà`ÞaêQàYß�êQÝ�ë+ã_Ý�Þö

�SïzêYã_á�ÝSêQâ4ß�ê²êYâ4ã_Þ²ßzé_ë+ïzàYãmêYâ4æ ãmÞ # %�&('*),+-%�.MòMì¹êQâ4Ý ñ àYï ñ Ý�àaêQãmÝÞ;í@Ý�úvå4Ý�í·ã_å �]Ýá�êYã_ï+å O ö O ö�`â4ã_Þ®ã_Þeò�Ýáßzè4ÞYÝ$ú@ô0ã_å4ë êQâ@Ý�ïzêYâ4Ýà ñ é_ß�ì+Ýà�� ÞSÞaêYàQß�êYÝëzìºáßzè4ÞYÝ�ÞSêYâ4Ý ñ é\ß�ì+Ý�à�� ÞSë+àYßzí4ãmÝåMêêQï�ò�Ýá�ï+æ¹Ý¾áïzå4ÞaêQßzåMê�ó�ß�å4í øeã_éméÄÝ�î+Ý�åkêYèvßzémémìûðWï+àYá�ÝÅêQâ@Ý ñ é\ß�ìzÝà�êYï�áïzåkîzÝàaë+Ý�êQï½êYâ4Ýï ñ êYã_æÅßzé ñ è4àaÝ�Þ�êQàQß�êQÝë�ìºàYÝÞ ñ ïzå4ÞYÝ�ö �!åfêYâ4Ý�ï�êQâ4Ý�àSâvß�å4í½êQâ@Ý�ßzémë+ï+àaãmêQâ@æ ã_Þ®å4ïzê 35),+"6�8�#(9:8�+7&7ótøeâ4ã_áVâ�ãmÞ�Þaâ4ïcøeå ãmå > O �E@�ö �`â4ãmÞ�ã_Þ�í4ÝÞ ñ ãmêYݾêQâ4ÝÅðOßzá�ê�êQâvß�ê�êQâ4Ý�ßzé_ë+ïzàYãmêYâ4æá�ßzåfßzå4í5í4ï]ÝÞ ñ é_ßcì¾æÅã�ô0ÝíºÞaêYàQß�êYÝë+ãmÝÞö

�`â4Ý`ßzå4ßzémì]ÞYãmÞóDòMì �]ã_å4ë+â�ßzå4í�á�ï+é_émÝ�ßzëzè4ÝÞ�ó�ï�ðvë+àQß�í4ã_Ý�åkê ßzÞaáÝåMê±Ý�ô@ßzæÅãmå4ÝÞ?êQâ4ÝJí@ì]åvßzæ³õã_á�Þ®ï�ð êQâ@Ý$émÝ�ßzàaå4ÝàaÞeã_åºêQâ4Ý¢á�ß�ÞYÝ$ïzð±ßzå5ã_å0úvå4ãmêYÝÞaã_æÅßzé.Þ�êQÝ ñ ÞYã��Ý >Oémã_æ� ���)@�ö7�`â4Ý�ìºá�ßzéméêQâ4ãmÞ�ßzémë+ï+àYã¬êQâ4æ �å@ú4å4ãmêYÝÞYãmæ¾ß�é!K�àQßzí@ã_ÝåMê � ÞYá�ÝåMê >2 K � @�ö �`â4Ý�ì�ï+ò4ÞYÝ�àaîzݹé_ß�êQÝ�à�êQâ4ß�êßzå ßzémë+ï+àYã¬êQâ4æ�øeã¬êQâ ßzå ß ñ4ñ àYï ñ àYã_ß�êQÝ�émìÑí4Ý�áàYÝßzÞYãmå4ëÑÞaêYÝ ñ ÞYã��ݾøeãmé_éÄâvß�î+Ý�êQâ@Ý·ÞQßzæ¹Ýñ àYï ñ Ý�àaêQãmÝÞ®ßzÞ K � ö7�åºêQâ4Ý¢å4Ý�ô]êSÞaÝá�êQã_ïzå5øJÝ�øeã_é_é=ò4àYãmÝ��4ì·ïzè@êQémã_å4Ý�êYâ4Ýãmàeßzåvßzé¬ì]ÞYã_Þ�ö

B^�

Page 15: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� C � 8 +-%�./1R!�'8! ),)�� " 8�`â4ÝÑæ¾ß�ã_å á�ï+å4áémè4ÞYãmï+åäïzðD�0ã_å@ë+âCó ��Ý�ß�àYå4Þ�ó`ßzå4í ÷½ßzå@ÞYï+è4à�> O �E@ÅãmÞ�êQâ4Ý�ðWï+émé_ïcøeã_å@ëêQâ4Ý�ï+àYÝ�æfö

�.� �k×�ÖS��� Ò � ) >�),&��?=-.�%�1?8�# !�) ),.0.�)�( ��+ � +7'0& 8 !�'�$ %�.�" # % ;�'*8�+7& 8 !�358�+7& - � " 8 /;'F( �78�# 8� Y [&' & �78�+ &��78�'0#�!�&2# %�&B8*9�'*8 !#( '0.0.@35),+76�8�#(9:8 & ) % 2N%�! � 854��:'0./'2>�#=' �]$ ��Ü & �78I%�6;"8�# %�9:8 =$%�1?)�� !M),6�8�#D&2'�$I8T( '0.0.!35),+76�8�#(9:8 '0+ &��78 ./'�$ '0&@&B)I& �78 8 � =7853�& 8 ;T=$%�1?)�� !M),) %2N%�! �G854��:'0./'2>�#=' �]$ C

�`â4Ýãmà ñ àaï0ï�ðtïzðCêQâ@ã_ÞJêYâ4ÝïzàYÝæ ñ àaï0á�ÝÝí@Þ`òkìÅÝ�ô@ßzæ¹ã_å@ã_å4ë¢êQâ4Ý�í@ì]åvßzæ¹ã_áÞJïzðGêQâ@Ý�ÞaêYàQß�ê�õÝëzì ñ ßzãmàó >) AI'$2@�ö?�`â4ãmÞ;ã_ÞJßzå·ß,�Åå@Ý!í@ì]åvßzæ¹ã_áßzé¸Þaì]ÞaêYÝæ ãmå b 6 øeâ4Ý�àYÝ�êYâ4Ý!í@ì]åvßzæ¹ã_á�ÞßzàYÝ¢í4Ý�úvå4Ý�í½òMì�êQâ@Ý$í@ã��.ÝàYÝ�åMêQã\ß�éCÝ��kèvß�êYã_ï+å=ó

��� ������������� ��� < ��

[844 � [� ���� $� �� -

�� > � 6 > � 6�6 @> � 6 �> � 6�6 @

� �� �

}ð;øJݾí4Ý�úvå4Ý êYï½ò�ݹêYâ4ݹæ�è4émêYã ñ émã_áß�êQã¬î+Ý�æÅß�êQàaã¬ô½êQÝàaæ ßzò.ïcîzݹøeã¬êQâjï���õ}í4ã\ßzëzï+åvßzéî�ßzé_è4Ý�Þ 4Æßzå4í*4 � ó êYâ4Ýå�øJÝ·á�ßzå á�é\ßzÞaÞYãmðqìûêQâ@Ý�í@ì]åvßzæ¹ã_á�Þ³ïzð`êQâ4Ý·Þ�ì]ÞaêQÝ�æ òvßzÞaÝí ï+åñ àYï ñ Ý�àaêQãmÝÞeïzð��ö �vàaï+æ í@ì]åvß�æÅãmá�ßzéCÞ�ì]ÞaêQÝ�æÅÞeêQâ@Ýï+à�ì+ó¸ãmð� ã_Þ`ãmåMî+Ýà�êQãmò4é_Ý!êYâ4Ýå5êQâ4Ý�àYÝßzàYÝ�ïzå4émìÆê�ø²ï �kèvßzémãmêVß�êQãmîzݽðWï+àaæÅÞ¾ðWïzà¾êQâ4ÝÑí@ì]åvß�æÅãmáÞ�ïzð$êQâ@Ý�Þaì]ÞaêYÝæ5ó`í4Ý ñ Ýå4í@ã_å4ëï+å øeâ4Ý�êQâ4Ý�à� âvßzÞ ñ è4àYÝ�émìùàYÝ�ß�é;ï+à ñ è@àYÝé¬ìjãmæ¾ß�ë+ã_åvß�àaìÑÝãmë+ÝåMî�ßzémè4ÝÞ�öL�`â4ãmÞ�àYÝ�ÞYè4é¬êQÞã_å�êQâ@àYÝݺáßzÞYÝ�Þ�" ã_Þ³å@ïzê ã_åMî+Ý�àaêYã_ò4émÝzó� â4ßzÞ ñ è4àYÝ�émì�àaÝ�ßzé²Ýã_ëzÝåMî�ßzé_è4Ý�Þó±ï+à� âvßzÞñ è4àaÝémìjã_æÅßzë+ãmåvßzàaìûÝ�ã_ë+Ý�åkî�ßzémè4ÝÞ�ö!�`â4Ý �kèvßzémãmêVß�êQãmîzÝÅðWï+àaæÅÞ�ïzðSêYâ4ÝÞaݺí4ã��.ÝàaÝåMê á�ßzÞaÝÞßzàYÝ�Þaâ4ïcøeåfãmå � ã_ëzè4àYÝ0B+ö �`â4Ý�ã_à`ßzå4ßzémì]ÞYãmÞ²êQâ@Ýå ñ àYï]áÝ�Ýí4Ý�ífòMì�Ý�ô@ßzæÅãmå4ã_å@ë�Ý�ßzáVâ5á�ß�ÞYÝë+ÝïzæÅÝ�êQàYãmá�ßzémémìzö �!å4Ý$ã_æ ñ ï+à�êVßzåMê`á�ï+å4Þaã_í4Ý�àQß�êYã_ï+å5ã_Þ`êQâ4ß�êeêQâ4Ý$òvßzÞaã_á¢ðWï+àYæ¹Þeßzò�ïDîzÝ�ßzàaÝðWï+à�êYâ4Ý�è4å4á�ï+å4Þ�êQàQß�ã_å4Ý�íûí0ì0å4ßzæÅãmáÞ!å@ïzê!êQâ@ݳí@ì]åvßzæ¹ã_áÞSêQâvß�ê ñ àYï,�aÝ�á�êYÞ¢êYâ4Ý�ë+àYßzí4ãmÝåMêï+åMêQï�êYâ4Ý!è4å4ã¬ê;Þ �]è4ßzàYÝ�ö�,;ßzÞaã_á�ß�é_émìzóMêQâ4ãmÞ²àYÝ��kè4ã_àaÝÞ;á�ï+å4ÞYãmí4Ýàaã_å4ë�ßzé_é ñ ïzÞYÞYãmò4é_Ý ñ ïzÞYãmêYã_ï+å@Þïzð?êQâ4Ý¢è4å4ã¬êeÞ��kèvßzàaÝ�àaÝé_ß�êQã¬î+Ý!êQï³êYâ4Ý¢í@ì]åvßzæ¹ã_áÞ`Þaâ4ïcøeå½ãmå �:ã_ë+è4àaÝ�B+ö

�!å4ÝÅá�àYè4á�ã\ßzé�ß�Þ ñ Ýá�ê$êQïºêQâ@Ýã_à$ßzå4ßzémì]ÞYãmÞ!ø²Ý�àYÝ ñ ï+ãmåMêQÞ¢ïzð ��Ýàaï�õ�ë+àYßzí4ãmÝåMê$ã_å�êQâ4ݹáïzå0õÞaêYàQßzãmå4Ýí·í@ì]åvß�æÅãmáÞó]øeâ4ã_áVâ·êYâ4Ý�ì·Þaâ4ïcø êYï³áï+àaàYÝ�Þ ñ ï+å4í·êQïM�SßzÞYâºÝ��kè4ãmé_ãmò4àYã_ß@ö �`â4ã_Þ;ãmÞßzé_Þaï!í4ãmÞYáè@ÞYÞYÝ�í ã_å EGÝ�æÅæÅß O ö��å�êQâ@Ý;è4å4á�ï+å4ÞaêYàQßzãmå4Ýí³í0ì0å4ßzæÅãmáÞ�ó�êYâ4ÝàaÝ;Ý�ô0ã_Þ�ê�ß�ê æÅï+Þ�êï+å4Ý ñ ï+ã_åMê?ïzð �Ýàaï�õ�ëzàQßzí4ãmÝåMê�ó�øeâ@ã_áVâ�ãmÞGá�ßzémé_Ý�í¢êYâ4ÝÄáÝåMêYÝà:ßzå4í�í@Ýå4ïzêYÝí�>) �� I'$��+@�ö��`â@ã_Þñ ïzã_åMê�áßzå�ò�Ý�ðWï+è@å4í�æÅß�êQâ4Ý�æ¾ß�êQã_áßzé_é¬ì¾òMìfÞYÝ�êYêQãmå4ë�Ý��]è4ß�êQãmï+å4Þ � ßzå4í �ÅêQïI��Ýàaïºßzå4íÞYï+é¬î]ã_å4ë4ó

>) � I'$ � @�<�� > � 6�6 > � 6 @4 � I > � 6�6 > � 6)@4 � ��SïzêYã_á�Ý!êQâvß�ê`êYâ4Ý¢áÝ�åkêYÝà®æ¾ß�ì¾å4ïzêeÝ�îzÝåfò.Ý¢ã_å@ÞYã_í@Ý�êQâ4Ý¢è4å@ãmêeÞ��kèvß�àYÝzö7�åfßzí4í@ãmêQãmï+åCó0ãmð¨ã_Þ�å4ïzêÄãmåkîzÝà�êQã_ò@é_Ý;êQâ@ÝåÅêYâ4ÝàaÝSãmÞ�å4ï ñ ï+ãmåkê�ï�ð�Ý�àYï$ë+àQß�í4ã_Ý�åkêÄãmå êYâ4Ý®è4å4áïzå4ÞaêYàQßzãmå4Ýí

BS�

Page 16: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

B

A

C

D

C B

AD

� ����� ��£±�M�c�J����¡c�V������§]��� � §#��� ©k�c£������c�²�����c����¡�c��¶�k��£

� �+� � ©k�c£ �¬�¢���D���k����­�����c����¡��c���M��£

ÉC���M¯ � ¯ � �]�c������������¡c�;«_�c���¢£±�c«C��©M�`¿,� � ¤M­+�k�c�¢���V£V¯í@ì]åvßzæ¹ã_á�ÞöS,²è@ê?ãmå¢êYâ4ÝÄáï+å4Þ�êQàYßzã_å4Ý�í�í0ì0å4ßzæÅãmáÞ�ó�øeâ4ÝàaÝJë+àYßzí4ãmÝåMêQÞtï+å¢êQâ4ÝÄò�ï+è4å4ívß�àYã_Ý�Þïzð�êQâ4Ýeè4å4ã¬êÄÞ��kèvßzàaÝSß�àYÝ ñ àYï��aÝá�êYÝíÅï+åMêQï¢êQâ4Ýeè4å4ã¬ê�Þ��kèvßzàaÝzó]ßzí4í@ãmêQãmï+åvßzé ñ ïzã_åMêQÞ±ïzð �Ý�àYïë+àQß�í4ã_Ý�åkêÄæÅß�ì³Ý�ô0ã_Þ�ê�ö?�äâ4Ý�åI K � á�ï+åMî+Ý�àYë+Ý�Þ;ãmê±øeãmé_é4ò�Ý®êYï�ïzå4ÝSï�ð.êYâ4ÝÞaÝ ñ ï+ã_åMêQÞ±øeã¬êQâ�Ý�àYï¹ë+àQßzí@ã_ÝåMêö

�`â4ã_Þ�êYâ4Ýï+àaÝæ�ãmÞ¢ßzåÑÝ�ô0áã¬êQãmå4ëºàYÝÞaè4émê¢Þaã_å4á�Ý ãmê�ãmÞ�ï+å4Ý ïzðÄêQâ4ݳúvàaÞaê$áï+åMîzÝàYëzÝå4á�ݾàYÝ�õÞYè4é¬êQÞ²ðWïzà;ß�àQß�êQã_ïzåvßzé�æ�è4émêYã\ßzëzÝåMê²émÝ�ßzàaå4ã_å@ë�ßzémë+ï+àYã¬êQâ4æ5ö?�`â4Ý�å4ï�êQã_ïzå¾ïzð?áïzåkîzÝàaë+Ýå4á�ÝzóêQâ4ïzè4ë+âCó+ãmÞ�àQß�êQâ4Ý�à ø²Ýß��¸ö?�å³ðOßzá�êózå4ïzê�ïzå4émì$æÅßcì�êQâ4Ý ñ é\ß�ì+Ý�àYÞ�� ñ ï+émã_á�ã_ÝÞ:å4ïzê±á�ï+åMî+Ý�àYë+Ýøeâ4Ýå ñ é_ßcì]ãmå4ë·ë+àQß�í4ã_Ý�åkê�ßzÞYá�ÝåMê�ò@è@ê�êQâ4ݳÝ�ô ñ Ý�á�êQÝ�í ñ ß�ìzï��=Þ¢æÅß�ì�å4ïzê¢á�ï+åMî+Ý�àYë+ݹÝã�õêQâ4Ý�àö �vè4àaêYâ4ÝàaæÅïzàYÝzóÄß�êÅßzåMì æ¹ï+æÅÝ�åMê ã_åÆêYã_æ¹Ý�êQâ4Ý5Ý�ô ñ Ýá�êQÝí ñ ßcìzï��¨ïzð¢ß ñ é\ß�ìzÝàáï+è@é_í�ò�Ý·ßzàYò@ãmêQàYßzàYãmémì ñ ï0ïzàö�� �®ïzê³ï+å4é¬ìjí@ï0Ý�Þ�êQâ4ãmÞ�æÅß��zÝ·ã¬ê�í4ã��Åá�è4émê�êQï�Ý�îzß�é_èvß�êYÝßÅémÝ�ßzàaå4Ýà�ó�ã¬ê!ß�é_ÞYï¹áïzè4é_ífò.Ý ñ ïzêYÝåMêQã_ßzé_é¬ì�í4ãmÞQßzÞ�êQàaï+è4ÞSøeâ@Ýå�ß ñ@ñ é_ãmÝíføeã¬êQâ5êQÝæ ñ ï+àQßzéí4ã��.ÝàaÝå4á�ã_å4ë�ðWï+à²æ�è@émêQã ñ é_Ý®ÞaêQß�êQÝ�ÞaêQï]áVâvßzÞ�êQãmá!ëMßzæ¹ÝÞ�ó]øeâ4ãmáVâ5ßzÞYÞaè4æÅÝ�Þ²êQâ4ß�ê`Ý�ô ñ Ýá�êQÝíñ ß�ì+ï��.Þ®ã_å·êQâ4Ý ñ ß�Þaê ñ àaÝí4ãmá�ê®Ý�ô ñ Ýá�êYÝí ñ ßcìzï��.Þ®ãmå·êQâ4Ý�ðWè@êYè4àYÝ�ö

�å�êQâ4Ý�å@Ý�ô]êeÞYÝ�á�êQãmï+å�øJÝ!øeã_é_é�Ý�ô@ßzæ¹ã_å@Ý�ß�æÅÝ�êQâ4ï]í¾ðWï+à;ßzí4í4àaÝÞYÞaã_å4ë�êYâ4ã_Þ²áï+åMî+Ý�àYë+Ý�å4áÝñ àYïzò4é_Ý�æfö �jÝ!øeãmé_é¸êQâ4Ý�å ñ àYïcî+Ý!êYâvß�ê;êYâ4ã_Þ²å4Ý�ø æÅÝ�êQâ4ï]í·âvßzÞ;êYâ4Ý!Þ�êQàYïzå4ë+Ýà`å@ïzêQãmï+å�ïzðáï+åMîzÝàYëzÝå4á�Ýzó�ã)ö Ýzö¬ó ñ é\ß�ì+Ý�àYÞ`øeã_émé %�. ( %�1R!;á�ï+åMî+Ý�àYë+Ý$êQï¹ßM��ßzÞaâfÝ��]è@ã_é_ãmò4àYãmè4æ5ö

� C�� �7%�#='2%?>�.�8 e�8�%�#=+7'0+:9'9 %�&B8

�jÝ·å@ïDø ã_åMêYàYï]í4è4áÝÅêQâ4Ý·á�ï+å4áÝ ñ êÅßzå4í�Þ�êQè4í@ìjêQâ4Ý·ãmæ ñ ß�á�ê�ï�ð�ß½î�ßzàaã\ßzò@é_ݹé_Ý�ß�àYå4ãmå4ëàQß�êYÝzö7�å5êQâ4Ý¢ë+àYßzí4ã_Ý�åMê�ß�ÞYáÝ�åMê!ßzémë+ï+àaãmêQâ@æ ñ àaÝÞaÝåMêQÝ�íÑßzò.ïcîzÝ$êYâ4Ý¢ÞaêQÝ ñ ÞSêQß��zÝ�å½ãmåºêYâ4Ýí4ã_àaÝá�êQã_ïzå5ï�ð:êYâ4Ý�ëzàQßzí4ãmÝåMê`øJÝàYÝ�áï+å@ÞaêVß�åkêö7�jÝ�øeã_éméCå4ïcø ßzémé_ïcøäêQâ4Ý�æ êQï³î�ßzàaìºïcîzÝàêQãmæÅÝ�ó0êQâkè4Þ®áVâvßzå@ë+ã_å4ë³êYâ4Ý¢è ñ í4ß�êQÝ¢àYè@é_ÝÞ`êYï4ó

� °Ä©M� ��¤M���·��©]���$��¡c�V�����c��¦]��­c���4£��Q�D��¡c�V���c�Å�D�]��­½�¢���c�k£���©k������«J��©k�V���c» £$�·¦4�V�����z¤½�c«����§0��������������­ ����µä¦0��­c���v£e��©M�V���¢���k£��`§4��£��D���¢�Q�c������£�¦4�D�k¤k���k��¦4�V�����+¤����¾��©M��¦]�c£��`�c�S�����©M�®«_�M���k���;�c«C����§]�����������¬��­¢©k���D©�¦]��­c���4£�¯

B �

Page 17: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�� 01< �� -� � � � (�S>) ��%I'$��`@� $�� 01< $�� -� � �� � (��>) ��%I $��^@� $

øeâ4ÝàaÝzó

� �� �� " Z � RS=>? I � R$A�� _��a[ �

� ê�êYâ4Ý �kêQâ½ã¬êQÝ�àQß�êYã_ï+åºêQâ4Ý�ßzémë+ï+àYã¬êQâ4æ êVß���ÝÞ�ß¹ÞaêYÝ ñ ïzð ÞYã��Ý�� � �¢ã_åºêQâ4Ý�í4ã_àaÝá�êYã_ï+å5ïzðêQâ4ݳëzàQßzí4ãmÝåMê�ö;�SïzêYã_á�Ý�êQâ4ݳàaÝÞ�êQàYãmá�êYã_ï+å4Þ�ï+å � ��àYÝ��kè4ãmàYÝ�êYâvß�ê�ã¬ê�ò.Ý�ÞaêQàaã_á�êQémì ñ ï+ÞYã¬êQãmîzÝßzå4í5ò.ïzè4å4í4Ý�íCó4êQâkè4Þ®ò.ïzè4å4í4ãmå4ë³êQâ4Ý¢ÞaêYÝ ñ ÞYã��ÝÞ®ßzÞ`øJÝémé)ö

�`â4Ý5Þ ñ Ýáã¬úvá5æÅÝ�êQâ4ï]í�ðWï+à�î�ßzàaì]ã_å@ëûêYâ4ݺé_Ý�ß�àYå4ãmå4ë�àQß�êYÝ·êQâvß�ê øJݽß�àYݺáï+åMêYàYã_ò@è@êQãmå4ëã_Þ êQâ4Ý �ùï?E�� >�� �äã_å ï+àJEtÝßzàYå �¸ßzÞaê� �@ ñ àYãmå4áã ñ é_Ý�ö �`â4ݽÝ�ÞYÞYÝ�å4áݽïzð!êQâ@ã_Þ æÅÝ�êQâ4ï]íã_Þ�êQï5é_ÝßzàYå4�kè4ãmá5�]é¬ì�øeâ4Ýåùé_ï+Þaã_å4ë@óGßzå4íûá�ßzè0êQã_ïzè4ÞYé¬ì½øeâ4Ý�åjøeã_å4å@ã_å4ë4ö;�`â4ÝÅãmåMêQè4ã¬êQã_ïzåã_Þ�êYâvß�ê5ß é_ÝßzàYå@Ýà·ÞYâ@ï+è4é_í¨ßzí4ß ñ ê �kè4ã_á5�ké¬ìçøeâ4Ý�åÁãmê�ã_Þ�í4ïzã_å4ë�æ¹ï+àYÝ ñ ï]ï+àYé¬ìÆêYâvßzåÝ�ô ñ Ýá�êYÝíCö �äâ4Ýå�ã¬ê�ãmÞSí@ï+ã_å4ëÅò.Ý�êYêYÝàSêYâvßzå�Ý�ô ñ Ý�á�êQÝ�íCóCã¬êSÞaâ4ï+è4émí�ò�Ý�á�ß�è@êQãmï+è4Þ®ÞYã_å@áÝêQâ4Ý�ï�êQâ4Ý�à ñ é\ß�ì+Ý�àYÞ®ßzàaÝ�é_ã���Ýé¬ì¹êYï áVâvßzå4ë+Ý!êYâ4Ýãmà ñ ï+é_ãmá�ì+ö �`â4Ý�â4Ýßzàaêeïzð?êQâ@Ý¢ßzé_ë+ïzàYãmêYâ4æã_Þ�â4ïcø êYï�í4Ý�êQÝàaæÅãmå4ÝÅøeâ@Ý�êQâ@Ýà³ß ñ é\ß�ì+Ý�à�ã_Þ¢øeã_å4å@ã_å4ë�ïzà�é_ïzÞYã_å@ë4ö��vï+à�êYâ4Ý�ßzå4ßzémì]ÞYãmÞã_åÑêQâ4ãmÞ¢ÞYÝá�êQãmï+åjÝßzáVâ ñ é_ß�ì+Ýà¢øeã_émé�ÞYÝ�é_Ý�á�ê�ß ��ß�ÞYâjÝ��kè4ã_émã_ò4àaã_è4æ#ßzå4íùáï+æ ñ ßzàaÝ êYâ4ÝãmàÝ�ô ñ Ýá�êYÝí ñ ß�ìzï��ºøeãmêQâ êQâ@Ý ñ ß�ìzï��ºêQâ4Ý�ì¹øJï+è4émíÅàaÝá�ÝãmîzÝ�ã¬ð.êYâ4Ý�ì ñ é_ßcìzÝí¾ßzáá�ï+àYí4ãmå4ë¢êQïêQâ4Ý$ÞYÝ�é_Ý�á�êQÝ�í½Ý��]è@ã_é_ãmò4àYãmè4æ Þ�êQàYß�êQÝ�ëzì+ö-EGÝ�ê! ��`ò�Ý�êQâ4Ý$Ý��kè4ãmé_ã_ò@àYã_è@æ ÞaêYàQß�êYÝëzìºÞaÝémÝá�êYÝíòMì�êQâ4Ý�àaïcø ñ é_ß�ì+Ýà�óvßzå4í $��²ò�Ý!êQâ@Ý�Ý��kè4ã_émã_ò4àaã_è4æ Þ�êQàQß�êQÝë�ì�ÞYÝ�é_Ý�á�êQÝ�ífòMì�êYâ4Ý�áïzé_è4æ¹åñ é\ß�ìzÝàö �Sï�êQã_á�Ý$êYâvß�êSå4ï¾àaÝ��kè4ãmàYÝæ¹ÝåMê�ã_Þeæ¾ß�í4Ý$êYâvß�ê®êQâ4Ý ñ é\ß�ìzÝàYÞSáVâ4ï]ï+ÞYÝ$êQâ4Ý�ÞQßzæ¹ÝÝ��kè4ãmé_ã_ò@àYã_è@æ >Wã)ö Ýzö¬ó=êQâ4Ý Þ�êQàQß�êQÝë�ì ñ ßzã_à�>) ��)I'$��N@!æ¾ß�ì�å@ïzê$ò.Ý¹ß ��ßzÞaâjÝ��]è@ã_é_ãmò4àYãmè4æ @�ö�vï+àYæÅßzé_é¬ì+ó

� � < � � � RS=>? ãmð1(�S>) ��%I $��^@ � (�S>& � I'$��`@��������������� R$A�� ïzêQâ@ÝàaøeãmÞYÝ �����������

� �� < � � � RS=>? ã¬ð (�� >) ��%I $��^@ � (��)>) ��%I $ � @ �������������� R$A�� ïzêYâ4Ýà�øeã_ÞaÝ �����������

�äãmêYâfß³î�ßzàYã_ßzò4émÝ!é_ÝßzàYå4ãmå4ë³àQß�êQÝ¢ÞYè4áVâ½ßzÞ`êQâ4ãmÞ;ø²Ý$á�ß�åfÞ�êQã_émé=á�ï+å4ÞYãmí4ÝàeêQâ@Ý$áßzÞYÝ¢ïzð�ßzåã_å@ú4å4ãmêYÝÞYãmæ¾ß�évÞaêQÝ ñ ÞYã��Ý�>Wé_ãmæ ��� @�ö:�ùÝ�øeã_émé¸á�ßzémé¸êYâ4ã_Þ²ßzé_ëzï+àYã¬êQâ4æ �jï?E��?õ K � ßzå4í¾ã_åêQâ4Ý�å4Ý�ô]ê`ÞaÝá�êYã_ï+å¾ÞYâ4ïcøäêQâvß�ê²êQâ@Ý �jï E �ùßzí,�aè4Þ�êQæ¹ÝåMê`âvß�Þ`ß$îzÝàaì¾ã_åMêQÝ�àYÝ�ÞaêQãmå4ë�Ý��=Ý�á�êï+åºêQâ4Ý¢áïzåkîzÝàaë+Ýå4á�Ý�ïzð?êQâ@Ý�ß�é_ë+ï+àaãmêYâ4æfö

B 6

Page 18: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� C � 8 +-%�./1R!�'8! ),)�� ) e &�" ��" 8�jÝ�øeãmé_é ñ àYïcî+Ý¢êQâ4Ý�ðWï+émé_ïcøeã_å@ë�àYÝ�ÞYè4é¬ê�ö

�.� �k×�ÖS��� � � ) '0+ %F& (@)."8=78�#+!�),+ '@& (@)." %:3�&2'*),+ '@'0&B8�# %�& 8 ;I9:8�+;8�# %�. "H! �]$ 9?%%$I8(' >�),& �=-.�%�1 8�#+! ) ),.0.�)�( & �78�� ) e &�" � " 8 %�. 9:),#='0& ��$ - ( '0&�� � R$A�� � � RS=>? /;' &��78�+G& �78�'0# !�&2# %�&B8 "9�'*8 !<( '0.0.L35),+76�8�#(9:8A& )I%�2N%�! �G854��:'0./'2>�#=' �]$ C

�SïzêYã_á�Ý êQâvß�ê�êYâ4ã_Þ�ãmÞ�êQâ4Ý æ¹ï+àYÝ�Þ�êVßzå@ívßzàYí å4ïzêYã_ï+å<ï�ð¾á�ï+åMî+Ýàaë+Ýå@áÝ ß�å4í ÞaêQàaã_á�êQémìÞaêYàYï+å4ëzÝà`êQâvß�å5øeâvß�êeã_Þ`êQàaè4Ý!ðWï+àeòvßzÞaã_áA K � ö

�`â4Ý ñ àYï]ïzð.ïzð�êQâ4ãmÞ�êQâ4Ý�ï+àYÝ�æ øeã_émé0ðWï+émé_ïcø áémï+ÞYÝ�émì�øeã¬êQâ³êQâ@Ý ñ àYï]ïzð�ïzð;�`â@Ýï+àaÝæ B`ðWàYï+æ�0ã_å@ë+â�ßzå4íÑá�ï+é_émÝ�ßzë+è@ÝÞ�> O �%@�ó=òMì�Ý�ô@ßzæÅãmå4ã_å@ë¾êQâ4Ý ñ ï+ÞaÞYãmò4é_Ý�á�ßzÞaÝÞ�ðWï+àSêYâ4ݳí@ì]åvßzæ¹ã_á�Þïzð�êYâ4Ý�é_ÝßzàYå@ÝàYÞ�ö;�:ã_àYÞ�ê�ó¸é_Ý�ê�è@ÞSøeàYã¬êQÝ�í4ïcøeå½êQâ4Ý�í4ã��.ÝàaÝåMêQã_ßzétÝ��kèvß�êYã_ï+å4Þ®êQâvß�ê�í4Ý�úvå4ÝêQâ4Ý¢Þ�ì0Þ�êQÝ�æ øeã¬êQâ5ßzåºã_å0úvå4ãmêYÝÞaã_æÅßzé=Þ�êQÝ ñ ÞYã��Ý�ó

��� ������������� ��� < ��

[ � >��N@24� � >��N@ 4 � [

� ���� $� �� -

�� � >��N@ > � 6 > � 6�6)@� � >��N@ > � 6 !> � 6�6)@

� �� �

�jÝ øeã_émé±á�ßzémé�êQâ4ݹæ�è4é¬êQã ñ é_ãmá�ß�êYãmî+Ý�æ¾ß�êYàYã�ô�øeãmêYâjï��¸õ�í@ã\ßzë+ïzåvßzé Ý�åMêQàYãmÝÞ �>��N@¢Þaã_å4á�ݾã¬êå4ïcø í4Ý ñ Ýå@í4Þ�ï+åûêQâ4ÝÅé_Ý�ß�àYå4ãmå4ëfàYß�êQÝ�Þ�ß�ê$êQãmæÅÝ���ó � >��N@¢ßzå4í � � >��N@�ö � ê�êYã_æ¹Ý���ótêYâ4Ý�kèvßzé_ã¬êVß�êYãmîzÝ;ðWï+àYæ ï�ð=êQâ@ÝSí@ì]åvß�æÅãmáÞ�ã_Þ±í4Ý�êQÝ�àYæ¹ã_å4Ý�í¾òMì³êQâ4Ý T>��N@±æ¾ß�êQàYã�ô³ß�å4í¾áßzåÅò�ÝÞYè4æ¹æÅßzàYã��ÝíºãmåkêYï�êQâ4àaÝÝ$ë+Ýå@ÝàQß�éGá�ßzÞaÝÞó

� T>��N@;ãmÞ`å4ïzêeã_åMîzÝàaêYã_ò4émÝzó� T>��N@;âvß�Þ ñ è4àYÝ�émì·àaÝ�ßzéCÝ�ã_ë+Ý�åMîzß�é_è4Ý�Þóvï+à� T>��N@;âvß�Þ ñ è4àYÝ�émì·ãmæ¾ßzëzã_åvßzà�ì¹Ýã_ëzÝåMî�ßzé_è4Ý�Þö

�`â4ݱúvàYÞ�êtêQâ4ãmå4ë`êQïeå4ïzêYÝÄãmÞCêQâvß�êGêQâ4ÝÄßzò�ïcî+Ý�á�ßzÞaÝÞ?í4ï®å4ïzêtí4Ý ñ Ý�å4í�ï+å���ö��`â4ݱðWï+émé_ïcøeã_å@ëé_Ý�æÅæÅß�ã_Þ`Ý�î+Ý�å�ÞaêYàYï+å4ëzÝàö

�A���W��ÆÒ T>��N@G'8! '0+76�8�#=&('2>�.�8 ' )G%�+5; ),+7./1 ' ) -B%�! ;:8 � +;8 ; ) ),# ��" 8 '0+ �853 "&('*),+ � C � /M'8!N'0+76�8�#=&('2>�.�8�C �>��N@'�$%�! =��:# 8�./1M'�$ %�9�'0+-%�#�1 8�'�9:8�+76,%�. �78 !A' )<%�+5;F),+7./1 ' ) �$%�! =��:# 8�./1 '�$ %�9�'0+-%�#=1J8�'�9:8�+76,%�. ��8 !�C T>��N@ �$%�!A=�� # 8�./1 # 8�%�. 8�'�9:8�+76,%�. �78 ! ' )N%�+5;I),+7./1' ) �$%�!?=�� # 8�./1 #58�%�. 8�'�9:8�+76,%�. ��8 !�C

� ÖD×C×�� �0ã_å4á�Ý � �� � >��N@ºãmÞ ñ ï+ÞaãmêYãmî+Ý�ó`ãmêºãmÞºêYàYã¬î0ã_ßzé�êYïÆÞaÝÝùêYâvß�ê�> � >��N@24 @ > � � >��N@ 4 � @ <> � >��N@ � � >��N@N@24 4 �¸ã_Þeë+àaÝ�ß�êYÝà�õ)êQâvß�åCó4é_Ý�ÞYÞ�õ}êQâ4ßzåCó¸ï+à`Ý��kèvß�é¬õ}êYïJ��Ýàaï4óvãmð ßzå4í5ï+å4é¬ì·ãmð�4 4��¸ãmÞë+àYÝß�êQÝ�à�õ)êQâvßzå=ó�émÝÞYÞ�õ}êYâvßzåCó�ï+à Ý��]è4ßzé¬õ)êQï ��Ýàaï4ózàaÝÞ ñ Ýá�êQã¬î+Ýé¬ì+ö �0ã_å4á�ݲêQâ@ÝÞYÝeß�àYÝJêYâ4Ý;Ý�ô4ß�á�êáï+å@í4ãmêYã_ï+å4ÞÄïzðGãmåMî+Ýà�êQãmò4ã_émãmê�ì ßzå@í ñ è4àaÝémì¹àaÝ�ßzé '�ã_æÅßzë+ãmåvßzàaì�Ýãmë+ÝåMî�ßzémè4ÝÞ�êQâ4Ý�é_Ýæ¹æÅߢãmÞêQàaè4Ýzö

�0ï T>��N@�øeã_é_é@ßzémø²ß�ì]ÞÄÞYß�êQãmÞaðqì�êYâ4ÝeÞQßzæ¹Ý`á�ß�ÞYÝ0>7ßzå@í¹êYâ4ÝàaÝ�ðWï+àaÝ®â4ßcîzÝ®êYâ4ÝeÞQßzæ¹Ý`ë+Ý�å4ÝàYßzéí@ì]åvßzæ¹ã_á�Þ @Jß�Þ K � ( '0& �7) �:&Cß$îzß�àYã\ß�ò4é_Ýeé_ÝßzàYå@ã_å4ë�àQß�êYÝzö$�åÅêQâ4Ý!ÞaÝá�êQã_ïzå4Þ²êQâ4ß�ê²ðWï+émé_ïcø

B �

Page 19: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ø²Ý·øeãmé_é;ò�Ý·Ý�ô@ßzæ¹ã_å4ãmå4ë�Ý�ß�áVâÆïzð®êQâ@ÝÞYÝ5á�ß�ÞYÝÞ ÞaÝ ñ ßzàYß�êQÝ�émìzö �`â4Ý ñ àYï]ïzðWÞ³ïzðSæÅïzÞaê ïzðêQâ4Ý·áßzÞYÝ�Þ³øeã_é_é ñ àaï0á�ÝÝí ãmí4ÝåMêQãmá�ßzémémì�êYï�êQâ4Ý ñ àaï0ï�ð®ðWïzàD K � ö!�å ðOßzá�ê æÅïzÞaê�ï�ð®êYâ4Ýñ àYï]ïzðSøeã_é_é`å@ïzê¾àaÝé¬ì ï+å ßzåMì ñ ßzà�êQãmáè4é_ßzà³é_ÝßzàYå4ãmå4ëûàQß�êYݽßzí��aè4ÞaêYæÅÝ�åkê¾ß�ê¾ßzé_é7ö �!å4émìã_å�êYâ4Ý�úvåvßzé ÞYè4ò0õ}á�ßzÞaÝ ïzð�êQâ4Ý�úvå4ßzé�á�ß�ÞYݳøeã_émé?øJÝ ò.Ý�ðWï+àaáÝ�íÑêYï·í4Ý�î]ã_ß�êQÝ�ðWàaï+æ êYâ4ÝãmàßzàYëzè4æÅÝ�åMêQÞö;�`â4ã_Þ¢ã_Þ�í4è4ݳêQï·êQâ@Ý�ðOßzá�ê�êYâvß�ê�î�ßzàYã_ßzò4émÝ�é_ÝßzàYå@ã_å4ë�àYß�êQÝ�Þ¢ã_å�ë+Ý�å4ÝàYßzé±í4ïå4ïzê�áVâvßzå4ë+ݹêQâ4ÝÅïcî+ÝàYßzé_éÄí4ãmàYÝá�êQãmï+åjïzð²êQâ4ÝÅë+àQßzí@ã_ÝåMê�>Oã7ö Ý�ömóGêQâ@ݾÞYãmë+å ïzð²êQâ4Ý ñ ßzàaêYã\ßzéí4Ýàaãmî�ß�êYãmî+Ý�Þ @�ö!�0ãmå4áÝÅæÅïzÞaê�ï�ð;êQâ4Ý ñ àYï]ïzð`ïzð K � � Þ�á�ï+åMî+Ý�àYë+Ý�å4áݺï+å4é¬ìÑí4Ý ñ Ýå@í4Þ³ï+åêQâ4ݳÞaã_ë+å@Þ!ïzð±êQâ@ݳí4Ýàaãmî�ß�êQã¬î+Ý�Þó.øJݳá�ß�åûè@ÞYÝ�êQâ@Ý�ÞQßzæ¹Ý³ßzàaë+è4æ¹ÝåMêQÞ�ö��vï+àSêYâ4ÝÞaݳá�ßzÞaÝÞø²Ý®øeã_émé ñ àYÝ�ÞYÝ�åkê;ï+å4émì³ßzå¾ß�ò4ò4àYÝ�î]ã\ß�êYÝí ñ àYï]ïzðCïzð=áï+åMîzÝàYëzÝå4á�Ý!êQï$ã_é_émè4ÞaêYàQß�êYÝ;êQâvß�êÄêYâ4Ýî�ßzàYã_ßzò4é_Ý�émÝ�ßzàaå4ã_å4ë®àQß�êQݲí@ï0Ý�Þ å4ïzê�ß��.Ýá�ê:êQâ4Ý�ã_à ßzàYë+è@æÅÝ�åkêYÞö��jÝJàYÝ�áï+æ¹æÅÝ�å4í�êYâ4Ý@ K �ßzåvßzé¬ì]ÞYã_Þ'> O � @JðWï+à;ß³æ¹ï+àYÝ®êQâ4ï+àaï+è4ë+â·Ý�ô@ßzæÅãmåvß�êYã_ï+å�ãmå4áémè4í4ãmå4ë�â4Ý�é ñ ðWè@éCí4ã\ß�ë+àQßzæ¹Þö �åêQâ4Ý·àaÝæÅßzã_å@ã_å4ë5ÞYè4ò]õ�á�ß�ÞYÝzó�øeâ@ÝàYÝF K � ãmÞ�ÞYâ4ïcøeå å4ïzê�êYï�áïzåkîzÝàaë+Ýzó�øJÝ·øeã_é_éÄÞYâ@ïDøêQâvß�êeã_å·êQâ4ãmÞ`á�ßzÞaÝ<�ùï?E��?õ K � øeãmé_éCá�ï+åMî+Ý�àYë+Ý¢êQï¹ßM��ßzÞaâfÝ��kè4ã_émã_ò4àaã_è4æ5ö

�jÝ øeã_émé±æ¾ß��zݹé_ã_ò�ÝàYßzé�è4Þaݾïzð;ßfá�àYè4á�ã\ßzé�é_Ý�æÅæÅß¾ðWàYïzæ�êQâ4Ý�ã_à ñ àYï]ïzðJðWï+à K � ö��`â@ã_Þé_Ý�æÅæÅßÅãmæ ñ émã_Ý�ÞSêQâ4ß�ê�ãmð�êYâ4Ý ßzé_ëzï+àYã¬êQâ4æ¹ÞSá�ï+åMî+Ý�àYë+ݳêQâ@Ýå�øeâvß�ê�êYâ4ݳÞaêYàQß�êYÝë+ãmÝÞ�áïzå0õî+Ý�àYë+Ý¢êQï æ�è4Þ�ê®ò.Ý¢ß ��ßzÞaâfÝ��kè4ã_émã_ò4àaã_è4æ5ö

�A���W���� � ) ' '0+3) ),.0.�)�( '0+:9 ��" 8 ),# � ) e &�" ��" 8 '.é_ãmæ � � � >) V>��N@)I $V>��N@ @ < >& ,� I'$��K@('& �78�+ >& ,� I'$��K@<'8! %�2A%�! �G854��:'0./'2>�#�' ��$ C

� ÖD×C×�� �`â4Ý ñ àYï]ïzð�ðWï+àI K � ãmÞ�ë+ã¬î+Ýåçã_å > O �E@�óJßzå4í Þaâ4ïcøeÞ�êQâvß�ê�êQâ4Ý�ßzé_ë+ïzàYãmêYâ4æáï+åMîzÝàYëzÝÞ`ãmðGßzå4í¾ïzå4émì¹ãmð.êQâ4Ý ñ àYï��aÝá�êYÝí·ë+àYßzí4ãmÝåMê²ãmÞ@��ÝàYï@ó@ßzå@í�ÞYè4áVâ·Þ�êQàYß�êQÝ�ëzì ñ ßzã_àaÞæ�è4Þ�ê�ò�Ý¾ß �SßzÞYâjÝ��kè4ã_émã_ò4àaã_è4æ5ö�vï+àN�ùï?E��?õ K � å4ïzêQãmáÝÅßzé_ÞaïfêYâvß�ê$êQâ4ݾßzé_ë+ïzàYãmêYâ4æáï+åMîzÝàYëzÝÞÄãmð.ßzå4í³ï+å@émì�ã¬ðvêQâ4Ý ñ àYï,�aÝ�á�êQÝ�íÅëzàQßzí4ãmÝåMê�ã_ÞL�Ýàaï4ózøeâ4ãmáVâ ã_Þ�êQàaè4Ý`ãmð�ß�å4í ï+å4émìãmðGêYâ4Ý ñ àaï,�aÝá�êQÝíºë+àYßzí4ãmÝåMê`ã_åI K � ãmÞ@��ÝàYï@ö �`â4ÝàaÝ�ðWï+àaÝ!êQâvß�ê ñ ï+ã_åMê;æ�è4Þaê`ò�Ý�ß �SßzÞYâÝ��kè4ãmé_ã_ò@àYã_è@æfö

�SïcøÁøJÝ¢øeã_é_é.Ý�ô@ßzæ¹ã_å4Ý!êYâ4Ý¢ã_å4í@ãmî]ã_í4è4ßzé=áßzÞYÝ�Þö

� C � C�� T>��N@ '8!�2 ),& ��+76�8�#=&('2>�.�8�å·êQâ4ãmÞ`á�ßzÞaÝ¢êYâ4Ý�í@ì]åvßzæ¹ã_á�Þ`ïzð?êQâ4Ý�Þ�êQàQß�êQÝë�ì ñ ßzãmà²âvßzÞ`êYâ4ÝA�kèvßzé_ã¬êVß�êYãmîzÝ�ðWï+àYæ ÞYâ@ïDøeåã_å � ãmë+è4àYÝ.B�>7ß @�ö

�A���W�� � � �78�+�� - & / '8!I+;),& '0+76�8�#=&2'2>�.�8(' ��" 8 ( '0&�� %�+71 .�8�%�#=+7'0+:9 # %�&B8F% ; 1 � !�&7"$I8�+7& .�8�% ;�! &��78.!�&2# %�&B8*9�1T=$%�'0# &B) 35),+76�8�#(9:8 & ) %T=7),'0+7& ),+ & �78M>�) � +5;?%�#=1F&��$%�& '8! %2N%�! �G854��:'0./'2>�#=' �]$ C

� ÖD×C×�� �SïzêYã_á�ÝeêYâvß�ê T>��N@�ãmÞ±å4ïzêÄã_åMî+Ý�àaêYã_ò4émÝ;ãmð=ßzå4í ï+å4é¬ì�ã¬ð 4Åï+à 4 �kã_Þ �Ý�àYï4ö �äã¬êQâ4ïzè@êé_ï+ÞaÞ;ïzð?ë+Ý�å4ÝàYßzé_ã¬ê�ì+ó0ßzÞYÞaè4æÅÝ�4ºãmÞ �Ý�àYï4ó]êQâ4Ý�åºêYâ4Ý�ë+àYßzí4ã_Ý�åMê²ðWï+à²êYâ4Ý�áïzé_è4æ¹å ñ é_ßcìzÝà;ãmÞáï+å@ÞaêVß�åkêö��`â4Ý�á�ï+é_è@æÅå ñ é_ß�ì+Ýà�� Þ®ÞaêYàQß�êYÝëzìzó $Äó0øeã_é_é=áï+åMî+Ý�àYë+Ý¢êQï¹Ýã¬êQâ4Ý�à �ÝàaïÅïzà`ï+å4Ý>Oí4Ý ñ Ý�å4í4ãmå4ë�ï+å½øeâ@Ý�êQâ@Ýà�êYâ4Ý�ë+àYßzí4ãmÝåMêSø²ßzÞ ñ ï+ÞaãmêQã¬î+Ý$ï+à®å4ÝëMß�êQãmîzÝR@�ö � êSêQâ4ãmÞ ñ ï+ã_åMêóêQâ4Ý�àaïDø ñ é\ß�ìzÝà�� Þ?ë+àQßzí@ã_ÝåMêtò�Ýá�ï+æÅÝ�Þ:á�ï+å4Þ�êVßzåMê:ßzå4í¢êQâ4Ý�àYÝ�ðWï+àYÝÄæ�è4Þ�ê ß�é_ÞYï`á�ï+åMî+Ý�àYë+ÝÄêQï�Ý�àYï�ï+à�ïzå4Ýzó�í4Ý ñ Ýå4í@ã_å4ë�ï+å�êYâ4Ý;Þaã_ë+å³ïzðvêYâ4Ý;ë+àYßzí4ãmÝåMê�ö��`â4Ý �aï+ã_åMê ÞaêQàYß�êQÝ�ëzì$êQâ4Ý�àYÝ�ðWïzàYÝ

B �

Page 20: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

áï+åMîzÝàYëzÝÞSêYï ÞYï+æ¹Ý�áï+àaå4Ýà�óvøeâ4ã_áVâ5òMì EGÝæ¹æ¾ß O ã_ÞeßM��ß�ÞYâ5Ý��kè4ã_émã_ò4àaã_è4æ5ö

� C � C � T>��N@<�$%�!79 8�%�.��@'�9:8�+76,%�. �78 !

�å·êQâ4ãmÞ`á�ßzÞaÝ¢êYâ4Ý�í@ì]åvßzæ¹ã_á�Þ`ïzð?êQâ4Ý�Þ�êQàQß�êQÝë�ì ñ ßzãmà²âvßzÞ`êYâ4ÝA�kèvßzé_ã¬êVß�êYãmîzÝ�ðWï+àYæ ÞYâ@ïDøeåã_å � ãmë+è4àYÝ.B�>OòF@�ö

�A���W���� � �78�+ � - & /O�$%�! # 8�%�.$8�'�9:8�+76,%�. �78 !(' � " 8 ( '0& �D%�+71 .�8�%�#=+7'0+:9 # %�&B8 % ; 1 � !�&7"$I8�+7& .�8�% ;�!A&��78Q!�&(# %�& 8*9�1Q=$%�'0#A&B) 35),+76�8�#(9:8 &B)J%'=7),'0+7& &��$%�& '8! % 2A%�! � 854��:'0./'2>�#=' �]$ C

� ÖD×C×�� �äãmêYâ4ï+è@ê�émï+ÞYÞ�ï�ð=ë+Ý�å4ÝàYßzé_ã¬ê�ì+ózßzÞYÞaè4æÅÝ`êYâvß�ê 4 I'4 � � [@ö��`â4ã_Þ�ã_Þ:êQâ4Ýeí@ì]åvßzæ¹ã_á�ÞÞYâ4ïcø ãmå � ãmë+è4àaÝ B >OòF@�ö �²ïzå4ÞYãmí4Ýà¹êQâ4Ý5á�ßzÞaÝføeâ4Ý�àYÝ5êQâ4ÝfáÝåMêYÝà¾ãmÞÅãmå4ÞYãmí4Ý·êQâ4Ý5è4å4ã¬êÞ��kèvßzàaÝzö �SïzêYã_á�Ý êYâvß�ê$ãmðÄêQâ@ÝÅÞ�êQàQß�êQÝë�ì ñ ßzã_à¢ãmÞ$ãmå �kèvß�í4àQßzåMê � óCêYâ4ÝÅëzàQßzí4ãmÝåMê$ã_Þ$ßzé�õø;ß�ì]Þ�è ñ ßzå4ífàYãmë+âMê�ö7�`â4Ý�àYÝ�ðWïzàYÝzó.ßzåMìºÞaêYàQß�êYÝëzì ñ ßzã_àeã_åºêQâ@ã_ÞeàYÝ�ë+ã_ï+åºøeã_éméCÝ�îzÝåMêQè4ßzé_é¬ìáï+åMîzÝàYëzÝ êYï¾êQâ@Ý�è ñ4ñ Ýà�õ�àYãmë+âMê!á�ï+àYå4Ý�à�ïzð±êQâ@Ý�è4å4ã¬ê!Þ��kèvß�àYÝzöEtã��zÝ�øeã_ÞYÝ�óCÞaêYàQß�êYÝë+ãmÝÞSã_å�kèvßzí4àYßzåMê � øeãmé_éJßzémø²ß�ì]Þ³áï+åMî+Ý�àYë+Ý·êYï�êQâ4Ý�ò�ïzêaêQï+æ³õ�émÝ�ðqê�áï+àaå4Ýà�ö �Sïcø áï+å@ÞYã_í@Ýà ßÞaêYàQß�êYÝëzì ñ ßzãmàJãmåI�kèvßzí@àQßzåMê?,Sö �`â4Ý�ë+àQßzí@ã_ÝåMêJã_ÞJßzémø²ß�ì]Þ²è ñ ßzå@í¾é_Ý�ðqê�ó]ßzå4íÅêQâ4Ý�àYÝ�ðWïzàYÝêQâ4Ý�ÞaêQàYß�êQÝ�ëzìºøeã_émé?Ý�î+Ý�åkêYèvßzémémì5Ý�ô0ãmêSêQâ4ãmÞ �kèvßzí@àQßzåMê�ó.ÝåMêQÝ�àYãmå4ë �kèvßzí4àYßzåMê � ïzà���ó.ï+àñ ïzÞYÞYãmò4émì�â4ãmêaêQã_å@ë�êQâ4ݹáÝ�åkêYÝà�ö � ê¢êQâ@ÝÅá�ÝåMêQÝ�à$êYâ4ÝÅëzàQßzí4ãmÝåMê$ã_ÞN�Ý�àYï4ótß�å4íjÞaïfã¬ê¢âvßzÞáï+åMîzÝàYëzÝíCö�}ðJãmê¢ÝåMêYÝàYÞ¢ï+å@ݹï�ð �kèvß�í4àQßzåMêYÞ � ï+à �'êQâ@ÝåÑø²Ý�� îzݾßzémàYÝßzí@ì�Þaâ4ïcøeåjã¬êøeã_émé=áïzåkîzÝàaë+Ý�êQï³êQâ4Ý¢è ñ@ñ Ý�à�õ�àaã_ë+âMê`ïzà`é_ïcø²Ý�à�õ}é_Ý�ðqê²áï+àaå4Ýà�ö7�`â4ÝàaÝ�ðWï+àaÝzó4êYâ4Ý¢ÞaêQàYß�êQÝ�ë+ã_Ý�Þßzémø²ß�ì]Þ�áï+åMîzÝàYëzÝSß�å4í³òMì EGÝæ¹æ¾ß O êQâ4Ý ñ ï+ãmåMê�æ�è4Þ�ê±ò�Ý`ßA��ßzÞaâ³Ý��kè4ãmé_ã_ò@àYã_è@æfö �;ßzÞaÝÞøeâ4ÝàaݲêQâ@Ý;áÝ�åkêYÝà�ãmÞ å4ï�ê øeãmêYâ4ã_å$êQâ4ÝJè4å4ã¬ê�Þ��kèvß�àYÝ;ï+à:ã_Þ?ï+å�êYâ4Ý;ò�ï+è4å4ívß�àaì$ïzðvêQâ@ݲè4å4ã¬êÞ��kèvßzàaÝ á�ßzåÑßzémÞYï·ò�Ý�ÞYâ@ïDøeåÑêQï·á�ï+åMî+Ý�àYë+Ý òMì�ß·ÞYãmæÅãmé\ßzà®ßzå4ßzémì]ÞYãmÞó.ßzå4íÑã_Þ�í4ã_Þaáè4ÞaÞYÝíã_å�> O �%@�ö

� C � C�� T>��N@<�$%�! �)$ %�9�'0+-%�#=1 �@'�9:8�+76,%�. �78 !

�å·êQâ4ãmÞ`á�ßzÞaÝ¢êYâ4Ý�í@ì]åvßzæ¹ã_á�Þ`ïzð?êQâ4Ý�Þ�êQàQß�êQÝë�ì ñ ßzãmà²âvßzÞ`êYâ4ÝA�kèvßzé_ã¬êVß�êYãmîzÝ�ðWï+àYæ ÞYâ@ïDøeåã_åM� ãmë+è4àaÝQB�>Oá^@�ö?�`â4ãmÞ±á�ßzÞaÝeá�ßzå ò�ÝeðWè@àaêQâ@Ýà±ò4àaï �zÝ�åÅí4ïcøeå¹ã_åMêQï¢Þaè4ò0õ�áßzÞYÝ�Þ�í4Ý ñ Ýå4í@ã_å4ëøeâ4ÝàaÝ$êYâ4Ý¢è4å4ã¬êeÞ��kèvßzàaÝ�ãmÞ`ã_å·àYÝ�é\ß�êYã_ï+å�êYï³êQâ4Ý¢áÝ�åMêQÝà�ö

8�+7&B8�# '8! 2 ),& ��+ !�' ;:8 & �78 ��+7'0&?� 4�� %�# 8�C��åûêYâ4ã_Þ�áßzÞYݳøJÝ ÞaêQãmé_é:á�ßzåûè4ÞYݳêYâ4Ý ÞQßzæ¹ÝßzàYëzè4æÅÝ�åMê®ßzÞ`ðWï+à K � ö

�A���W���� � �78�+ � - & /#�$%�!<'�$ %�9�'0+-%�#=1 8�'�9:8�+76,%�. �78 ! %�+5;I&��78 358�+7& 8�# ' >) � I'$ � @(' '8!+;),& '0+ !�' ;:8 &��78� +7'0& ! 4��$%�# 8(' � " 8 ( '0&�� %�+71 .�8�%�#=+7'0+:9 # %�&B8 % ; 1 � !�& $I8�+7& .�8�% ;�!J& �78!�&(# %�& 8*9�1 =$%�'0# &B) 35),+76�8�#(9:8@&B)<%O=7),'0+7&L),+I&��78 >�) �:+5;?%�#�1N&��$%�&�'8! %32A%�! �I854��:'0./'2>�#=' �]$ C

� ÖD×C×�� �`â4Ý�àYÝÑßzàaÝfêQâ@àYÝÝ�áßzÞYÝ�Þ�êQï á�ï+å4Þaã_í4Ý�àö@�`â@Ý�úvàYÞ�ê·ã_Þ¾êYâ4Ý�è4å@ãmê�Þ �kèvßzàYÝ�émã_Ý�ÞÝåMêQãmàYÝ�émìjøeã¬êQâ4ãmå ß�ÞYãmå4ë+é_ÝI�]è4ßzí4àQß�åkêö �å�êQâ4ãmÞ³á�ßzÞaݺêYâ4Ý·í4ãmàYÝá�êQãmï+å�ïzð®êQâ4Ý·ë+àYßzí4ãmÝåMêøeã_émé0ò�Ý;áïzå4ÞaêQßzåMêQ>WÝzö ë4ö¬ózí4ïcøeå0õ�ßzå4í0õ}àYã_ëzâkê�ã_å �kèvßzí@àQßzåMê � @�ö �`â4Ý�àYÝ�ðWïzàYÝ;êQâ@Ý`ÞaêQàYß�êQÝ�ë+ã_Ý�Þøeã_émé�á�ï+åMî+Ý�àYë+Ý�êYï�êQâ@Ý!ß ñ4ñ àYï ñ àaã\ß�êYÝSá�ï+àYå@Ýà<>WÝzö ë4ömó]ò�ïzêYêYï+æ õ}àYãmë+âMê�áï+àaå4Ýà;ãmåI�kèvßzí@àQßzåMê� @�ö �`â4ÝÑÞYÝá�ï+å4í á�ßzÞaÝûãmÞ·êQâ4ÝÑè4å4ã¬ê·Þ��kèvß�àYÝûã_Þ·ÝåMêYã_àYÝ�émìÆøeãmêQâ@ã_å ê�ø²ï å4Ý�ã_ë+âkò�ï+àYãmå4ë

O [

Page 21: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�kèvßzí4àYßzåMêQÞö �²ï+å4Þaã_í4Ý�à·êQâ4Ýûá�ßzÞaÝûêYâvß�ê5ãmêºémã_Ý�Þ·ÝåMêQãmàYÝé¬ì øeãmêYâ4ã_å��kèvßzí@àQßzåMêQÞ � ßzå4í-�ö �`â4Ý�ë+àYßzí4ã_Ý�åMê�ßzé¬ø;ß�ì]Þ ñ ï+ã_åMêYÞ¹êYïjêQâ4ÝfàYãmë+âMê�ßzå@íçêQâ4Ý�àYÝ�ðWï+àYÝ5êQâ4Ý�Þ�êQàYß�êQÝ�ëzì øeã_é_éÝ�îzÝåMêQèvß�é_émì â4ã¬êÅêYâ4ݽàaã_ë+âMê¹ò�ï+è4å4ívß�àaìÆß�ê¹øeâ4ã_áVâ ñ ï+ã_åMê¹ãmê¹øeã_émé`ò.Ýfã_å �kèvßzí4àYßzåMê �ßzå4í êYâ4ݽë+àYßzí4ãmÝåMê¾øeãmé_éeò.Ý ñ ï+ãmåMêQã_å@ëjí4ïcøeåMø;ß�àYíCö �`â@ÝàYÝ�ðWï+àYÝ�ãmåÆêYâ4ã_ÞÅá�ßzÞaÝ�ãmê¹øeã_é_éáï+åMîzÝàYëzݹêYïºêYâ4Ý ò.ï�êYêQïzæ àYãmë+âMê¢áï+àaå4Ýà�ö�jÝ áßzåùÞaã_æ¹ã_é_ßzàYé¬ì·ÞYâ4ïcø�á�ï+åMî+Ý�àYë+Ý�å4áݹðWï+àïzêQâ@Ýà ñ ßzã_àaÞ²ïzð��kèvß�í4àQßzåMêYÞö �`â4ÝSêQâ4ãmàYí�ß�å4í¾úvåvß�é=á�ß�ÞYÝ!ãmÞÄøeâ4Ý�å·êQâ4ÝSáÝåMêYÝà`ã_ÞÄï+å¾êYâ4Ýò.ïzè4å4ívßzà�ì¹ïzð=êYâ4Ý�è4å@ãmêÄÞ��kèvßzàaÝzö:�å¾êQâ@ã_ÞÄá�ßzÞaÝ�ÞYïzæÅÝ ñ ïzã_åMêQÞÄßzémï+å4ë¢êQâ4Ý®ò.ïzè4å4ívßzà�ì øeã_é_éâvß�î+Ý¹ß ñ àaï,�aÝá�êQÝíûë+àYßzí4ã_Ý�åMê�ïzð �Ý�àYï4ö ,Äì�ÞYãmæÅãmé\ßzà®ßzàaë+è4æ¹ÝåMêQÞSêQï�êQâ@ï+ÞYݹßzò�ïcî+ÝzóCßzåMìÞaêYàQß�êYÝëzì øeã_émé4áïzåkîzÝàaë+Ý�êQï�ï+å4Ý®ïzð=êYâ4ÝÞaÝ!ò�ï+è4å4ívß�àaì ñ ï+ã_åMêQÞ�ö �0ÝÝ.> O �%@±ðWï+àÄß$í4ã\ßzëzàQßzæßzå4í ðWè4à�êQâ4Ý�à�Ý�ô ñ é_ßzåvß�êYã_ï+åCö �0ã_å@áÝ�ãmåäßzé_éSá�ßzÞaÝÞ�êQâ@Ý�ÞaêQàYß�êQÝ�ëzì ñ ßzã_àaÞ�áï+åMîzÝàYëzÝzóeòMìEGÝæ¹æ¾ß O êQâ4Ý�ì·æ�è4Þ�ê®âvß�î+Ý$áï+åMî+Ý�àYë+Ý�ífêYïÅß ��ß�ÞYâ5Ý��kè4ã_émã_ò4àaã_è4æ5ö

8�+7&B8�# '8! ��+ !�' ;:8M&��78 ��+7'0&X� 4��$%�# 8�C��`â4ãmÞ¢ã_Þ!êQâ@Ý ú4åvßzé±ÞYè@ò0õ�áßzÞYÝÅßzå4íÑã_Þ�êYâ4Ý ñ ï+ãmåMêøeâ4ÝàaÝ�êQâ@Ý�í@ì]åvßzæ¹ã_á�Þ²ïzð K � ßzå4íJ�ùï?E��?õ K � �kèvßzé_ã¬êVß�êYãmîzÝémì�í4ã��.Ýà�ö �ùÝSøeãmé_é¸ÞYâ@ïDøêQâvß�ê�ó4ß�émêQâ@ï+è4ë+â K � øeãmé_é�å4ïzê`á�ï+åMî+Ýàaë+Ý¢ã_å¾êYâ4ã_Þ²á�ßzÞaÝzó$�ùï?E��?õ K � øeãmé_é7ö?�`â4Ý ñ àYï]ïzðøeã_émé:ãmí4ÝåMêQã¬ðqìºêQâ4ݳß�àYÝ�ß�Þ!ïzð�êQâ4Ý�ÞaêQàYß�êQÝ�ëzìfÞ ñ ßzá�Ý�øeâ4ÝàaÝ�êQâ4Ý ñ é\ß�ì+Ý�àYÞ�ßzàaÝ4��øeãmå4å4ã_å@ë ßzå4í ��é_ï+Þaã_å4ë $ßzå@í�ÞYâ4ïcø êYâvß�ê²êYâ4ÝeêQàQß��aÝá�êYï+àYãmÝÞ²ßzàYÝ�ßzá�êYèvßzé_é¬ì ñ ãmÝáÝ�øeã_ÞaÝ�Ýémé_ã ñ êQãmá�ßzé0ã_åÞYè4áVâ5ß�ø²ß�ì¾êYâvß�ê²êYâ4Ý�ìÅÞ ñ ã_àQß�é�êYïDø²ßzàaí4Þ;êQâ4Ý�áÝåMêYÝàö � émé.ïzðGêYâ4Ý!émÝæ¹æ¾ßzÞÄã_å¹êQâ4ãmÞ²Þaè4ò0õÞYÝ�á�êQãmï+å5ã_æ ñ é_ãmáãmêYémì¹ßzÞaÞYè4æ¹Ý¢êQâvß�ê T>��N@;âvß�ÞSãmæ¾ßzëzã_åvßzà�ì¹Ýã_ëzÝåMî�ßzé_è4Ý�Þ�ß�å4í5êYâ4Ý¢áÝ�åkêYÝàã_Þ�ãmå4ÞYãmí4Ý�êQâ4Ý è4å@ãmê¢Þ��kèvß�àYÝzö��ùÝ ò.Ý�ë+ã_å�øeãmêYâ�êQâ4ݳðWï+émé_ïcøeã_å4ë¾é_Ýæ¹æÅßÅêQâvß�ê�á�ï+å4Þaã_í4Ý�àYÞêQâ4Ý¢í@ì]åvß�æÅãmáÞ;ðWï+à;ú@ô0Ý�í½é_ÝßzàYå@ã_å4ë³àYß�êQÝ�Þö

�A���W���� � ) & �78 .�8�%�#=+7'0+:9 # %�&B8 !(' � %�+5; � � ';# 8)$ %�'0+I35),+ !�&*%�+7& ' &��78�+M& �78 &2#�% 1 853�& ),#=1),)M& �78�!�&2# %�&B8*9�1 =$%�'0#M'8!I%�+ 8�.0./' =-&('*3�%�.@),#�>�'0& %�#5) �:+5; &��78F358�+7&B8�# ' >) �`I'$�� @ ' %�+5; & �78%�� 8 ! ),)N&��:'8! 8�.0./' =�!�8<%�# 8('

�� [� ����� ������ �� ��

� �� I

�� B[� �� �

� ÖD×C×�� �`â4ã_ÞÄã_Þ;�aè4Þ�ê;ߢàYÝ�ÞYè4é¬êJðWàaï+æ í@ì]åvßzæ¹ã_áßzé4Þ�ì0Þ�êQÝ�æÅÞÄêQâ4Ý�ï+àaì > O � @±ßzÞÄæÅÝ�åkêYã_ï+å@Ýíã_å�> O �%@²øeâ4Ýå T>��N@;âvßzÞeã_æÅßzë+ãmåvßzà�ìÅÝ�ã_ë+Ý�åMîzß�é_è4Ý�Þö

�jÝ5å4ïcø å@ÝÝí êQâ4Ý5áàaãmêYã_á�ß�é;é_Ý�æÅæÅßfêQâ4ß�ê¹ã_í4Ý�åkêYãmúvÝ�Þ³êQâ4ÝfßzàYÝßzÞ ïzð!Þ�êQàYß�êQÝ�ëzì Þ ñ ß�áÝøeâ4ÝàaݹêYâ4Ý ñ é\ß�ìzÝàYÞ�ßzàaݹè@ÞYã_å@ë½ß·áïzå4ÞaêQßzåMê�émÝ�ßzàaå4ã_å4ë·àYß�êQÝ�ö��SïzêYã_á�Ý êYâvß�ê�êYâ4ã_Þ¢áïzàYàYÝ�õÞ ñ ï+å4í4ÞeêQï³êYâ4Ý$ßzàYÝßzÞ`øeâ4ÝàaÝ¢êYâ4Ý ñ é\ß�ìzÝàYÞSßzàaÝ ��øeã_å4å@ã_å4ë ï+à ��é_ï+Þaã_å4ë @ö

�A���W���� 4 �78#=-.�%�1?8�# '8!�� ( '0+7+7'0+:9�� ' )G%�+5; ),+7./1 ' ) & �$%�& =-.�%�1?8�# � !4!�&2# %�&B8*9�1 '8!$I),6�'0+:9 %%( %�1�)=# )�$ & �78 358�+7& 8�#�C

� ÖD×C×�� �SïzêYã_áÝ;êYâvß�êÄã_å³êYâ4ã_Þ�ÞYè@ò0õ�áßzÞYÝeøeâ4ÝàaÝ T>��N@�âvß�ÞÄãmæ¾ß�ë+ã_åvß�àaì�Ýã_ëzÝåMî�ßzé_è4Ý�ÞÄßzå4íêQâ4Ý$áÝ�åMêQÝàSã_Þ`øeãmêYâ4ã_å·êYâ4Ý�è@å4ãmê®Þ��kèvß�àYÝzó¸êQâ@Ý�ëMß�æÅÝ�âvß�Þ�ß ÞYãmå4ë+é_Ý<�SßzÞYâfÝ��kè4ã_émã_ò4àaã_è4æ5óøeâ4ã_áVâ ãmÞÅêYâ4ݽá�ÝåMêQÝ�àö �0ï@óÄêYâ4Ý ñ é_ßcìzÝàaÞ��²ÞaÝémÝá�êYÝí Ý��]è@ã_é_ãmò4àYãmè4æ Þ�êQàQß�êQÝëzã_ÝÞÅðWï+à¹êYâ4Ý�jï E � ñ àaã_å4á�ã ñ émÝ;æ�è4Þ�êÄò.Ý`êQâ@Ý®á�ÝåMêQÝ�àókã)ö Ýzö¬ó5>) �� I'$�� @�< >) �� I'$�� @�ö �®ïDø¢óMá�ï+å4Þaã_í4Ý�à�êYâ4ÝàYïcø ñ é\ß�ì+Ý�àö �`â@Ý ñ é\ß�ì+Ý�à±ã_ÞN��øeã_å4å4ãmå4ë ®øeâ4Ýå¹ãmêYÞ�áè4àaàYÝ�åkê�Ý�ô ñ Ý�á�êQÝ�í ñ ßcìzï��.ÞÄãmÞ�é\ß�àYë+Ý�à

O B

Page 22: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

êQâvß�å5êYâ4Ý¢Ý�ô ñ Ý�á�êYÝí ñ ß�ìzï��=Þ®ãmð:ãmê`øJÝàaÝ$êYï ñ é\ß�ì·ã¬êQÞ`ÞYÝ�é_Ý�á�êQÝ�í½Ý��]è@ã_é_ãmò4àYãmè4æ5ö �`â4ãmÞeá�ßzåò.Ý�øeàaãmêYêYÝå5ßzÞ�ó

(�R>) AI'$2@ >8(�^>) � I $ @ �a[ �

�jÝ¢áßzå5øeàaãmêYÝ�ï+è@êeêQâ4Ý¢émÝ�ðqê`âvß�å4ífÞaã_í4Ý¢òMì·è4Þaã_å4ë¹Ý��kèvß�êQã_ïzå Bzö

>& �$ 4 -8 > � 6 > � 6�6)@9-8$ > � 6 !> � 6�6)@9- � 6�6)@ >>& �� $ 4 -8 �� > � 6 > � 6�6)@9-*$ > � 6 �> � 6�6)@9- � 6�6)@)Ißzå4íºêQâ4Ý�åfÞaã_æ ñ é_ã¬ðqì¹ÞYè4ò4Þ�êQã¬êQè@êYã_å4ë³êQâ@Ý$á�ÝåMêQÝ�à®ðWïzà;êQâ4Ý¢Ý��kè4ãmé_ãmò4àYãmè4æ Þ�êQàYß�êQÝ�ë+ã_Ý�Þó

>& >3 � @2$ 4 - >) >* � @`> � 6 > � 6�6)@>) >* � @`> $ 4*>�> � 6 > � 6�6)@ @>& >3 � @ � (��>& I'$2@� �

�SïzêYã_á�Ý�êQâ4ß�êSêYâ4ã_ÞSã_Þ ñ ïzÞYãmêYãmîzÝ�ãmð�ßzå4í�ïzå4émì5ãmð êQâ4Ý$ê�ø²ï�ðOßzá�êQï+àaÞ�âvß�îzÝ�êQâ4Ý�ÞQßzæ¹Ý�Þaã_ë+å=ö�`â4ã_ÞSã_ÞeêQàaè4Ý�ã¬ð�ßzå4ífï+å4é¬ìºãmð êYâ4Ý ñ é\ß�ì+Ý�à�� Þ�ÞaêYàQß�êYÝëzìzó Äó.ãmÞeë+àYÝß�êQÝ�àSêQâ4ßzåfêYâ4Ý�á�ÝåMêQÝ�àó � ó4ßzå4í5ãmê`ãmÞ;ã_å4á�àYÝßzÞYãmå4ë4ó4ï+à²ãmê � Þ`ÞYæÅßzémé_ÝàÄêQâvß�åºêYâ4Ý¢áÝ�åkêYÝà®ßzå4í5í4Ý�áàYÝßzÞYãmå4ë4ö��]ï êYâ4Ýñ é\ß�ìzÝà!ãmÞSøeã_å@å4ã_å4ë¾ãmð�ßzå@í�ï+å4émì5ã¬ð±ãmê�� ÞSÞaêQàYß�êQÝ�ëzìfã_Þ!æ¹ïcî0ãmå4ë�ß�ø²ß�ì½ðWàYïzæ êYâ4Ý�á�ÝåMêQÝ�àö�`â4Ý$ÞQßzæ¹Ý�á�ßzå5ò�Ý$Þaâ4ïcøeå5ðWïzàeêYâ4Ý¢áï+émè4æ¹å ñ é\ß�ì+Ý�àö

� ×�ÖD×6�&� 4Ö �¨Ò 4 �:# ) ��9��7) � &@%�+71 ),+;8 4�� % ;�# %�+7& ' & �78<.�8�%�#=+7'0+:9J# %�& 8<'8! 35),+ !�& %�+7&*C

�²ï+æ�ò4ãmå4ã_å@ëAEGÝæ¹æ¾ßzÞ ��ßzå4í*60ó�ø²Ý;úvå@í êYâvß�ê�êYâ4Ý;êQàYß��aÝá�êQï+àaã_Ý�Þ�øeã_é_é]ò�Ý ñ ã_Ý�áÝ�õ}øeã_ÞaÝ`Ýé�õé_ã ñ êQãmá�ßzékï+àaò4ãmêYÞ±ßzàYïzè4å4í�êQâ@Ý`áÝåMêYÝàó�øeâ4ÝàaÝeêYâ4Ý ñ ãmÝáÝ�Þ±áï+àaàYÝ�Þ ñ ï+å4í³êQï!êYâ4Ý �kèvßzí4àYßzåMêQÞí4Ý�ú4å4Ýí5òMì¾êQâ@Ý�áÝåMêYÝàö �ùÝ�á�ß�å·å4ïcø ñ àaïcî+Ý¢áï+åMîzÝàYëzÝå4á�Ý$ðWï+à;ß�é_ã_æ¹ãmêYÝí¹åkè4æ�ò�Ýà`ïzðÞaêQßzàaêYã_å4ë³Þ�êQàQß�êQÝë�ì ñ ßzãmàYÞö �jÝ!øeãmé_é.êYâ4Ýå5è4ÞaÝ¢êYâ4ã_Þ`émÝæ¹æ¾ß$êQï ñ àYïcîzÝ$á�ï+åMî+Ý�àYë+Ý�å4áÝ$ðWï+àßzåMì·ã_å@ãmêQã_ßzé�ÞaêQàYß�êQÝ�ëzì ñ ß�ã_àYÞ�ö

�A���W���� & ),#A%�+71 '0+7'0&2'2%�.5!�&2# %�&B8*9�1Q=$%�'0# ' >) � I'$ � -+$��)@ ),#<>& � - ��RI'$ � @('L& �$%�& '8!� ! ��� 3�'*8�+7&2./1 3�.�)R!�8 � & )M& �78D358�+7&B8�# ' &��78Q!�&2#�%�& 8*9�1'=$%�'0#Q( '0.0. 35),+76�8�#(9:8A& )M&��78 358�+7&B8�#�C��� ��� 3�'*8�+7&2./1 3�.�)R!�8 ���78�# 8 $I8�%�+ ! & �$%�&D& �7848�.0./' =-&2'*3�%�. &(# % 1 853�& ),#�1*)=#5)�$ &��:'8! =7),'0+7&;:8 � +;8 ; ( �78�+ >�),&�� =-.�%�1?8�#+! � !�8TB %�! &��78�'0# .�8�%�#=+7'0+:9F#�%�& 8D./'*8 !I8�+7&2'0#58�./1 ( '0& �:'0+ & �78� +7'0& ! 4��$%�#58�C� ÖD×C×�� �äã¬êQâ4ïzè@ê�émï+ÞYÞSïzð±ë+Ý�å4ÝàYßzé_ã¬ê�ìºßzÞaÞYè4æ¹Ý 4 � [Åßzå4í 4 ��� [@ö��`â4ãmÞ�ã_ÞeêQâ@Ý�á�ß�ÞYÝÞYâ4ïcøeå�ãmå � ã_ë+è@àYÝ B�>Oá^@�ö�EGÝ�ê�� < ���� �� ����� � B � [@ó¸ß�å4í � < � � � �� �� ö �²ï+å4Þaã_í4Ý�à�ß�åfãmå4ãmêYã\ßzéÞaêYàQß�êYÝëzì >& ��`I $ �,-*$��)@JøeãmêQâ $�� � [@ö

�vï+à ßzåMì ú@ô0ÝíÆé_ÝßzàYå4ãmå4ë�àYß�êQÝ�Þ ðWïzà�êQâ4Ý ñ é_ßcìzÝàaÞó±êQâ4Ý·êYàQß��aÝ�á�êQïzàaì ðWï+àaæÅÞ ß�å Ý�é_émã ñ ÞaÝ

O O

Page 23: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

C B

AD

���������� ��� ��

��� � ��� � � ��� �

���������������� ���

C B

AD

����� �"!$#�%&('�) �*��� � ') ��+ )-,$.�/ *���0� '�) � + ) , . *

C B

AD

ÉC���M¯ � ¯]°Ä©M�;����� �}���Q���c��­��c«C���������]���M����������£Ä�k£����M��÷�D��É.¶W¿0� � µÄ©M��� � �$1 � ©k�c£��¬�¢���D���k����­�����c����¡��c���M��£��c�k¤ ��©M�®�Q�������V�J��£±���]£���¤M�;��©M�e�k�]���±£�Ç��]�����c¯áÝ�åkêYÝàaÝí�ß�ê >) � I'$ � @²ßzå@íºøeã¬êQâ�êYâ4Ý�àQß�êYã_ï�ï�ð:ã¬êQÞ²ìMõ}àQßzí4ãmè4Þ²êYï³ãmêQÞÄô]õ}àQßzí@ã_è4Þ;Ý��kèvßzéCêQï@ó

2 � �� � �

�0ã_å@áݽêYâ4Ý�êQàYß��aÝá�êQï+à�ì ã_Þ ñ ã_Ý�áÝ�øeãmÞYÝ�Ý�é_é_ã ñ êQãmá�ßzé;øJÝ�á�ß�å¨á�ï+å4Þaã_í4Ý�à¾êQâ4Ý�Ý�é_émã ñ ÞaÝfêQâ4ß�êêQâ4Ý·êYàQß��aÝ�á�êQïzàaì�ðWï+émé_ïcøeÞ�øeâ4ãmé_Ý·ã_å ÝßzáVâ �kèvßzí@àQßzåMê�ö �`â4ãmÞ³ã_Þ ÞYâ@ïDøeåÆë+àQß ñ â4ã_áßzé_é¬ìûã_å� ã_ëzè4àYÝ O ö � Þ;êYâ4Ý�êQàQß��aÝá�êYï+àaìÅêQàYßcîzÝémÞeêYâ4àYïzè4ë+â �kèvßzí4àYßzåMê � ó4òMì EGÝæ¹æÅß 60ó0øJÝ¢á�ßzåï+ò4ÞaÝàaîzÝÅêYâvß�ê�êQâ@ÝÅàaïDø ñ é\ß�ìzÝà¢ã_Þ ��øeãmå4å4ã_å@ë ºßzå4íÑêQâ4Ý á�ï+é_è4æ¹å ñ é\ß�ìzÝà¢ã_Þ �aémï+ÞYãmå4ë 4ö�`â4ÝàaÝ�ðWï+àaÝzó � < � RS=>? ßzå4í � � < � R$A�� ó:ÞaïfêQâ@ÝÅàYß�êQãmïfïzð²êQâ4ݹÝémé_ã ñ ÞYÝ�� Þ$ß�ô0ÝÞ�øeãmé_é�ò�Ý� � ��ó�ßzå4í�êQâ4ãmÞ³Ýémé_ã ñ ÞYݾøeãmé_é²á�àYï+ÞaÞ ã_åMêQïG�kèvßzí@àQßzåMê , ß�ê�êQâ4Ý ñ ï+ã_åMê:>& �� - $���3 I'$�� @�ö�0ã_æ¹ã_é_ßzàYé¬ì+ó]ã_å �]è4ßzí4àQß�åkêQ,�óvêQâ4Ý�àYïcø ñ é_ßcìzÝà®ã_ÞI�aé_ïzÞYã_å@ë ¹ßzå4í½êYâ4Ý�á�ï+é_è@æÅå ñ é\ß�ìzÝà�ãmÞ��øeã_å@å4ã_å4ë� !êQâ4Ý�àYÝ�ðWïzàYÝ`êQâ4ÝeàYß�êQãmï�ïzð.êYâ4ÝeÝémé_ã ñ ÞYÝ�� Þ�ß�ô0ÝÞ±øeãmé_é@ò�Ý � �.ßzå4í êQâ4ÝeÝ�é_é_ã ñ ÞYÝJøeã_é_éáàaï+ÞYÞ®ã_åMêQï �kèvß�í4àQßzåMê�� ß�ê`êYâ4Ý ñ ïzã_åMê0>) �`I'$�� >0$�� � 6 @�ö�jݹá�ß�åùá�ï+åMêQã_åkè4Ý êQâ@ã_Þ�êQï5àYÝ�êQè4àaåûêYï5êYâ4ݾßDô@ãmÞ�øeâ4ÝàaݹêYâ4ݹêYàQß��aÝ�á�êYï+àaì�ò�Ýë+ßzåCö��`â4Ý

O%�

Page 24: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ÞaêYàQß�êYÝëzì ñ ß�ã_à¢ß�ê�êYâvß�ê ñ ïzã_åMê�øeã_émé�ò.Ý4>) � I'$ � - $�� � � @�ö �0ï@óCðWï+à¢Ý�ßzáVâùï+àYò4ã¬ê$ßzàYïzè4å4íêQâ4Ý�áÝ�åkêYÝà®ø²Ý�í4Ýá�àYÝ�ß�ÞYÝ�êYâ4Ý�í@ã_ÞaêQßzå4á�Ý�êQï êQâ@Ý�áÝ�åMêQÝàSòMì½ß ðOßzá�êYï+àeïzð � � � B � [@ó�ßzå4íêQâ4Ý�àYÝ�ðWï+àYÝ�êYâ4Ý�êYàQß��aÝ�á�êQïzàaì¾øeãmé_é¸áïzåkîzÝàaë+Ý!êQï�êYâ4Ý!áÝ�åMêQÝà�ö$�ùÝ!á�ßzå·àaÝ�ßzÞaï+å·ã_í@ÝåMêQãmá�ßzémémìðWï+àeßzåMì·ïzêYâ4ÝàeÞaè$�¹áã_Ý�åMêQémì�áé_ïzÞYÝ¢ã_å4ã¬êQã_ßzé.Þ�êQàYß�êQÝ�ë+ã_Ý�Þ`ï+å5êYâ4Ý$ß�ô0ÝÞ�ö

�A���W���� � �78�+ � - & /#�$%�!<'�$ %�9�'0+-%�#=1 8�'�9:8�+76,%�. �78 ! %�+5;I&��78 358�+7& 8�# ' >) � I'$ � @(' '8!'0+ !�' ;:8M&��78 � +7'0&O! 4�� %�# 8(' � ) e& " � " 8 .�8�% ;�!M& �78�!�&2# %�&B8*9�1 =$%�'0#M&B)G35),+76�8�#(9:8M& ) & �78358�+7&B8�# '@%�+5;J&��78�# 8 ) ),# 8N&B)I%�2A%�! �G854��:'0./'2>�#�' ��$ C

� ÖD×C×�� �`â4Ý ñ àaï0ïzð¸ãmÞ-�aè4Þ�êÄßzå Ý�ô]êQÝ�å4ÞYãmï+å ïzð EtÝ�æÅæÅß �@ö��²ï+å4Þaã_í4Ý�à�êQâ4Ý`é_ßzàYë+Ý�Þaê±Ý�é_émã ñ ÞaÝøeâ4Ýå ò�ïzêYâ ñ é\ß�ìzÝàYÞ¾é_Ý�ß�àYå4ãmå4ëùàYß�êQÝ�Þ�ßzàaݽï+å@ÝfêQâ4ß�ê¾ú4êYÞ¾Ý�åkêYã_àaÝémì øeã¬êQâ4ãmåÆêQâ@ݽè4å4ã¬êÞ��kèvßzàaÝzö �`â@ã_Þ�Ý�é_é_ã ñ ÞYÝ5øeã_émé®êYï+è4áVâ êQâ@Ý�ò.ï+è@å4ívßzà�ìçïzð¢êYâ4Ý�è4å4ã¬ê�Þ �]è4ßzàYÝÑßzå@í¨í@ï ÞYïß�ê¾êYâ4Ý�ò�ï+è4å4í4ßzàaìÆïzð�ê�øJï �kèvß�í4àQßzåMêYÞö �®ïcø á�ï+å4ÞYãmí4Ýà¾ßzåMì ãmå4ãmêYã\ßzé;Þ�êQàYß�êQÝ�ëzì ñ ß�ã_àö�`â4Ý!Þ�êQàQß�êQÝë�ì ñ ßzãmàÄøeãmé_évðWï+émé_ïcø ñ ãmÝáÝ�øeã_ÞaÝ!Ýémé_ã ñ êQã_áßzévï+àaò4ãmêYÞJï+àJæÅïcîzÝ�ßzé_ïzå4ë�êYâ4Ý!è4å4ã¬êÞ��kèvßzàaÝfò�ï+è4å@ívßzàaì�ßzå4í Ý�îzÝåMêQèvß�é_émìjøeã_é_éJâ4ãmê³êYâ4ݺò.ïzè4å4ívßzà�ì�ò�Ý�ê�øJÝÝåÆêQâ4ï+ÞaݺÞQßzæ¹Ý�kèvßzí4àYßzåMêQÞö � ê¾êYâ4ã_Þ ñ ïzã_åMê¾ã¬ê¾ãmÞÅïzå ï+à¹ã_å4Þaã_í4ݺêQâ4Ýfé\ßzàaë+ÝÞ�ê¾Ý�é_émã ñ ÞaÝ5í@Ý�úvå4Ý�í øeâ4Ýåñ é\ß�ìzÝàYÞ`â4ßcîzÝ$ß émÝ�ßzàaå4ã_å@ë�àQß�êQÝ�ïzð?ï+å4Ý�óvßzå4í�êYâ4ÝàaÝ�ðWï+àaÝ�ø²Ý�áßzå5ß ñ4ñ é¬ì EGÝæ¹æÅß � ßzå4íÞYï$êQâ4Ý®êQàQß��aÝá�êYï+àaì³øeãmé_évá�ï+åMî+Ýàaë+Ý�êYï$êYâ4Ý�á�ÝåMêQÝ�àö$�0ï4óMðWàYï+æ ß�åkì¹ãmå4ãmêYã\ßzé0ÞaêQàYß�êQÝ�ëzì ñ ßzãmàêQâ4Ý�êYàQß��aÝ�á�êQïzàaì�øeãmé_éCá�ï+åMî+Ýàaë+Ý¢êQï³êQâ4Ý¢á�ÝåMêQÝ�àóvøeâ4ã_áVâ5ã_Þeß ��ß�ÞYâ5Ý��kè4ã_émã_ò4àaã_è4æ5ö

EGÝæ¹æ¾ßzÞ � ó �4ó �]ó=ßzå@í �¾áï+æ�ò4ã_å4Ý¢êQï ñ àYïcî+Ý �`â@Ýï+àaÝæ O ö �å�Þaè4æÅæÅßzà�ì·êQâ4ÝD�ùï?E��ñ àYãmå4áã ñ é_Ý ÞaêQàaÝå4ë�êQâ4Ý�å4ÞGêQâ4Ý K � áï+åMî+Ý�àYë+Ý�å4áÝÄàYÝ�ÞYè4é¬ê�ö��å¢ÞYÝ�émð\õ ñ é\ß�ì®øeãmêQâA�ùï?E��?õ K � óñ é\ß�ìzÝàYÞ���ÞaêQàYß�êQÝ�ë+ã_Ý�Þ¹ßzå4í êQâ4Ý�ã_à³Ý�ô ñ Ýá�êQÝí ñ ß�ì+ï��.ÞÅá�ï+åMî+Ý�àYë+Ý5êQï ��ßzÞaâçÝ��]è@ã_é_ãmò4àYãmè4æÞaêYàQß�êYÝë+ãmÝÞ�ßzå@í ñ ßcìzï��.Þ�ïzð�êQâ4Ý�æÅß�êYàYã¬ôfëMß�æÅÝ�ö �`â4ãmÞ�áï+åMêYàYã_ò@è@êQÝ�Þ�ß�àYÝ�ã_å@ðWï+àaáÝ�æÅÝ�åkê�õòvßzÞaÝí·ßzémë+ï+àaãmêQâ@æ êYâvß�êÄã_Þ ñ àaïDî�ßzò@émì # %�&('*),+-%�.zßzå4íG35),+76�8�#(9:8�+7&>Oã_å ÞaÝémð\õ ñ é\ß�ì @ ðWï+à±êQâ4ãmÞàYÝ�ÞaêQàaã_á�êQÝí�áé_ßzÞYÞtïzð@ãmêQÝ�àQß�êYÝí$æ¾ß�êQàYã�ô!ë+ßzæÅÝ�Þö��`â4ãmÞ:àaÝÞaè4émê?á�ß�å�ò�ÝJëzÝå4Ý�àQßzémã��Ý�í�ò�Ý�ìzï+å4íÞYÝ�émð\õ ñ é\ß�ì�ãmå�êQâ4Ý�ðWï+émé_ïcøeã_å4ë�áï+àaï+é_é_ßzàaìzö

� ×�ÖD×6�&� 4Ö � � � )A'0+ %I& (@)."8=78�#+!�),+ ' & (@)." %:3�&2'*),+ ' '0&B8�# %�& 8 ; 9:8�+;8�# %�. "H! �]$ 9?%%$I8(' >�),& �=-.�%�1 8�#+! ) ),.0.�)�( & �78 � ) e &�" ��" 8 %�. 9:),#='0& ��$ >�� & ( '0&��L;�' � 8�#58�+7& � RS=>? %�+5; � R$A�� 'L& �78�+& �78�'0#Q!�&2# %�&B8*9�'*8 ! ( '0.0. 35),+76�8�#(9:8N& )I% 2A%�! �G854�� '0./'2>�#=' ��$ ' ) '

� RS=>? � �RS=>?� R$A�� � �R$A�� � B �

�E=7853�' � 3�%�.0./1 ' � ) e& " � " 8 - ( '0&�� � R$A�� � � RS=>? / 6�8�#+! ��! � " 8 - � R$A�� < � RS=>? /W( '0.0.35),+76�8�#(9:8N&B)I%�2A%�! � 854��:'0./'2>�#=' �]$ C

� ÖD×C×�� �`â4Ý ñ àYï]ïzð?ã_ÞeßzémæÅïzÞaê`ãmí4ÝåMêQãmá�ßzé�êQïM�`â4Ý�ï+àYÝ�æ O ö �`â4Ý¢ï+å4é¬ì�í4Ý�î]ã\ß�êYã_ï+å·ãmÞ;ðWï+àêQâ4ݹã_æÅßzë+ãmåvßzà�ì�Ýãmë+ÝåMî�ßzémè4Ý á�ßzÞaÝÅøeâ4Ý�àYݾêYâ4ÝÅá�ÝåMêQÝ�à�ãmÞ�ãmå4ÞYãmí4ݳêQâ4ÝÅè4å4ãmê$Þ �]è4ßzàYÝ�ö �åêQâ4ãmÞ!á�ß�ÞYÝ�êQâ@Ý ñ àYï]ïzðÄïzð EGÝæ¹æ¾ß ��ãmÞ�ßzæ¹Ýå4í@ÝíCö�EGÝ�ê � < � � �� �� � ����� ßzå4í � � < � � � �� �������� ö�vï+é_émïDøeãmå4ë¾êYâ4Ý ÞQßzæ¹Ý ßzàYëzè4æÅÝ�åMê¢ïzðJêYâ4ݳêQàYß��aÝá�êQï+à�ì�êQâ4àaï+è4ë+â�êQâ@Ý �kèvß�í4àQßzåMêYÞó?ß�ðqêQÝ�àß½àYÝ�î+ï+émè@êQãmï+å ß�àYï+è4å@íjêQâ4ݾáÝåMêYÝà�êYâ4Ý�å4Ý�ø ñ ï+ÞaãmêQãmï+åÑøeã_é_é�ò�Ý�>& ��^I'$�� - $��S>�� � � @ 6 @�ö

O �

Page 25: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�0ã_å@áÝzó

> � � � @ 6 < � RS=>? � �RS=>?� R$A�� � �R$A�� � BEI

êQâ4ÝSêQàQß��aÝá�êYï+àaì¹á�ï+åMî+Ýàaë+ÝÞ`êYï�êQâ@Ý!áÝ�åkêYÝà�ö$�`â4Ý!àaÝæÅßzã_å@í4ÝàÄïzðGêQâ@Ý ñ àYï]ïzðGãmÞJãmí4ÝåMêYã_á�ß�éêQï³êQâ4ß�ê®ïzðL�`â@Ýï+àaÝæ O ö

�jÝ�øeã_é_étàaÝ�êQè@àYå½êYï�Ý�ô@ßzæ¹ã_å4ãmå4ëJ�ùï?E��çï+è0êQÞYãmí4Ý�ï�ð�ÞYÝé¬ð\õ ñ é_ß�ìºã_åG�]Ýá�êYã_ï+å��0ö �]ó�øeâ4Ý�àYÝø²Ý$Ý�ô@ßzæ¹ã_å@Ý!êQâ4ãmÞ`ÞYãmêYèvß�êYã_ï+å·Ý�æ ñ ãmàYãmá�ßzémémì ã_å5ß³æ¹ï+àYÝ�á�ï+æ ñ é_Ý�ô�í4ï+æÅßzã_å=ö

� C � 7N'8!�3 � ! !�'*),+

�`â4ÝàaÝeßzàYÝ`Þaï+æ¹ÝJúvåvß�é ñ ïzã_åMêQÞ?êQï�ò�Ý`æ¾ßzí@Ý;ßzò�ï+è@ê�êYâ4ã_Þ àYÝÞaè4émêö � ãmàYÞ�ê�óDø²Ý;øeãmé_é ñ àYÝ�ÞYÝåMêÞYï+æ¹Ý�ðWè4à�êQâ4Ý�à �aè4ÞaêYãmúváß�êQãmï+å¾ðWï+àJêQâ4Ý �ùï?E�� ñ àYãmå4áã ñ é_ÝSßzÞ`ã¬ê;âvßzÞ`ò�ÝÝ�åºè4ÞYÝ�ífãmå·ïzêQâ4Ý�àé_ÝßzàYå4ãmå4ëºàYÝ�é\ß�êYÝí ñ àYï+ò@é_Ýæ¹Þö �]Ýáïzå4íCótø²Ý øeã_émé ñ àYÝ�ÞYÝ�åkê�ßfÞaâ4ï+àaê$í4ãmÞYá�è4ÞYÞaã_ï+åùï+åjí4Ý�õêQÝ�àYæ¹ã_å4ãmå4ë�øeâ4Ýå�ß ñ é_ß�ì+Ýà®ã_ÞJ��øeãmå4å4ãmå4ë 4ö7�:ã_åvßzémémìzó]øJÝ�øeãmé_éCémï0ï �¾ß�êeêQâ4Ý<�kå4ïcøeé_Ý�í4ë+ÝêQâ4ÝM�ùï?E��?õ K � ßzé_ëzï+àYã¬êQâ4æ àYÝ��]è@ã_àYÝ�Þö �`â4ÝÞaݾàaÝ��kè4ã_àaÝæ¹ÝåMêQÞ¢øeã_émé�ò�ÝÅé_ß�êQÝ�à$àaÝé_ß�ô0Ýíã_å5ß³æÅïzàYÝ ñ àYßzá�êYã_á�ß�éGßzé_ëzï+àYã¬êQâ4æ ã_å �0Ý�á�êYã_ï+å:�4ö

� C � C�� � �:1 � ) e &��

� ñ ß�àaê®ðWàYï+æ êYâ4ã_ÞeêQâ@Ýï+àaÝ�êQãmá�ßzétàaÝÞYè@émêeêQâ4Ý<�jï E � ñ àaã_å4á�ã ñ émÝ�æ¾ß�ì5ß ñ4ñ Ý�ß�à®êYïÅò�Ý �aè@Þaêßzå³è4å@ðWïzè4å4í4Ý�í¹â@Ýè4àaã_ÞaêYã_á�öE,²è@ê±ßzá�êYèvßzé_é¬ì$ãmê�â4ßzÞ±ò.Ý�Ýå ÞaêYè4í4ãmÝí³ã_å�ÞYï+æ¹Ý²ðWï+àaæ ãmå³ïzêQâ4Ý�àßzàYÝßzÞóDå4ï�êVßzò4é¬ì�øeâ4Ýå�áï+å4Þaã_í4Ý�àYãmå4ë!ßzå�ßzí@îzÝàYÞYßzàaìzö��å�Ý�î+ïzé_è@êYã_ï+åvß�àaì�ëMß�æÅÝ�êQâ4Ý�ï+àaì�êYâ4Ý% ; 1 ��!�& 8 ;G#58 =-./'*3�%�& ),#L;�1,+-%%$ '*3 ! > O 6E@$Þaá�ßzémÝÞ�êYâ4Ý�ãmå4í4ãmî]ãmí4èvßzé(� Þ¢ë+àaïDø`êYâ�àQß�êYÝ�òMìùêYâ4Ýã_åMî+Ý�àYÞaÝ�ïzð`êQâ@ݾïcî+Ý�àQßzéméJÞaè4áá�ÝÞYÞ³ï�ð`êQâ4Ý ñ ï ñ è4é\ß�êYã_ï+å=ö��`â4ã_Þ$øeã_é_é±áßzè4ÞaݾêQâ4Ý ñ ï ñ è4é\ßDõêQãmï+å4Þ®áï+æ ñ ïzÞYãmêYã_ï+åºêQïÅáVâvßzå4ëzÝ�æ¹ï+àYÝ �]è@ã_á5�kémìºøeâ4Ý�å�êQâ4Ý ñ ï ñ è4é\ß�êYã_ï+å5ßzÞ�ßÅøeâ4ï+émÝ�ãmÞñ Ý�àaðWï+àaæÅãmå4ë ñ ï]ï+àYé¬ì+ö � ðWï+àYæ ïzð±êYâ4ã_Þ�ß�é_ÞYï�ß ñ4ñ Ý�ßzàaÞ¢ßzÞ�ß�æ¹ï0í4ã¬úvá�ß�êQã_ïzå5êYï�êQâ4Ý # %�+";:)�$ ' � 8 ; (@8�'�9��:& 8 ; $ % 1 ),#�'0&21$ßzé_ëzï+àYã¬êQâ4æ > O �%@�ö��åºêQâ4ãmÞSß�é_ë+ï+àaãmêYâ4æfó]øeâ4Ýå½ßzå½Ý�ô ñ Ý�àaêæ¾ß��zÝÞeß�æÅãmÞaêVß��zÝzó@ß ñ ï+àaêYã_ï+å�ï�ðtãmêQÞJø²Ý�ã_ë+âMê`émï+ÞYÞJã_Þ;àaÝí4ãmÞaêQàaã_ò4è0êQÝíºß�æÅï+å@ë�êQâ@Ý�ïzêQâ4Ý�àÝ�ô ñ ÝàaêYÞö }ð=êYâ4Ý®ßzé_ëzï+àYã¬êQâ4æ ã_Þ ñ é_ßzáãmå4ë�é\ß�àYë+ݲøJÝãmë+âMêQÞÄï+å æÅãmÞaêQß��zÝ�åÅÝ�ô ñ Ýà�êQÞ >Oã7ö Ý�ömózêYâ4Ýßzé_ëzï+àYã¬êQâ4æ ãmÞ �aé_ï+Þaã_å4ë� �@�óvêQâ@Ýåûß·é\ßzàaë+Ýà ñ ï+à�êQãmï+å�ïzðÄêQâ4Ý�øJÝãmë+âMêQÞ¢ßzàaݳàYÝ�í4ã_Þ�êQàYãmò4è@êYÝí>Oã7ö Ý�ömó@êYâ4Ý$ßzé_ëzï+àYã¬êQâ4æ ßzívß ñ êQÞeæÅïzàYÝ �kè4ãmá5�]é¬ì+ö @

� C � C � 7 8 � +7'0+:9 � � '0+7+7'0+:9���`â4ÝF�jï E � ñ àaã_å4á�ã ñ émݾðWï+à ßzí��aè4ÞaêYã_å4ë�êQâ@Ý5émÝ�ßzàaå4ã_å@ë�àQß�êYÝ·ã_Þ�êQïÑémÝ�ßzàaå ðOß�ÞaêQÝ�à³øeâ4Ýåé_ï+Þaã_å4ë@ó æ¹ï+àYÝ�Þaé_ïcøeémìùøeâ4Ýå øeã_å4å@ã_å4ë4ö �`â4ã_Þ ñ é_ßzáÝ�Þ ß�ë+àYÝß�ê í4Ý�ß�é`ïzð�Ý�æ ñ âvßzÞYãmÞ³ï+åâ4ïcø êYïºí4Ý�êYÝàYæ¹ã_å@Ý�êQâvß�ê$ß ñ é\ß�ì+Ý�à�ã_Þ�øeãmå4å4ã_å@ë4ö;�å�êQâ@ݳí4ÝÞaáàYã ñ êQãmï+åÑïzð �jï E �tõ K �

O �

Page 26: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ßzò�ïDîzÝzóvêQâ@Ý$àaïcø;õ ñ é_ßcìzÝà;ø²ßzÞ®áï+å4Þaã_í4Ý�àYÝ�í5øeãmå4å4ã_å@ë øeâ@ÝåCó

(�R>) ��%I'$��`@ � (�S>& � I'$��^@ �2±ÞYÞYÝ�åMêQã\ß�é_émìzó�êYâ4Ý ñ é_ß�ì+Ýà:ø;ßzÞ:øeã_å4å4ãmå4ë!ã¬ðvâ4Ý�� í ñ àaÝ�ðWÝà â4ã_Þ:áè4àaàYÝåMê�Þ�êQàQß�êQÝë�ì�êYï�êQâvß�ê�ïzðñ é\ß�ì]ã_å@ë�ÞYï+æ¹Ý�Ý��kè4ãmé_ãmò4àYãmè4æ�ÞaêYàQß�êYÝëzì�ßzëMßzãmå4Þaê;êYâ4Ý!ïzêYâ4Ýà ñ é\ß�ì+Ý�à�� Þ`áè4àaàYÝåMê®ÞaêYàQß�êYÝëzìzö

� å4ï�êQâ4Ý�à ñ ïzÞYÞYãmò4é_Ý�áVâ4ï+ãmáÝ�ï�ð�í4Ý�êYÝàYæ¹ã_å@ã_å4ë¹øeâ4ÝåÑß ñ é\ß�ì+Ý�à!ã_Þ®øeã_å4å4ãmå4ë¾ãmÞ�ã¬ð±â4ã_ÞSÝ�ôkõñ Ý�á�êYÝí ñ ßcìzï��ûã_Þeáè@àYàYÝ�åMêQémìºé_ßzàYëzÝà;êQâ4ßzå5êYâ4Ý¢îzß�é_è4Ý¢ïzð?êQâ4Ý$ëMßzæ¹Ý�� ÞeÝ��kè4ãmé_ã_ò@àYã_è@æ >Wï+àÞYï+æ¹Ý·Ý��kè4ãmé_ãmò4àYãmè4æ ãmð®æ�è4é¬êQã ñ é_ݹÝ�ô0ã_Þ�ê @�ö!}ðSøJÝ·áïzå4ÞYãmí4Ýà�êYâ4Ý�úvåvßzé²ÞYè4ò�á�ßzÞaݺã_å �0Ý�á�õêQãmï+å � ö �@ö � ó0êQâ4Ý�åfæÅß�êQâ@ÝæÅß�êQãmá�ßzémémì³êQâ@ã_Þ;øJï+è4é_í5áïzàYàYÝ�Þ ñ ï+å4íºêQï4ó

(�R>) ��%I'$��`@ � (�S>& � I'$ � @ �}êÄã_Þ�ã_åMêQÝ�àYÝ�ÞaêQãmå4ë¢êQï$å4ïzêQÝeêQâ4ß�êÄã_å �Ýàaï�õ�Þaè4æ�ëMßzæ¹ÝÞ±øeã¬êQâ¹æÅã�ô@Ý�í ÞaêQàYß�êQÝ�ëzì Ý��kè4ãmé_ãmò4àYã_ßêQâ4Ý�ÞYÝ¢ê�ø²ï¹àYè@é_ÝÞ®ßzàaÝ¢ßzá�êYèvßzémémì�ãmí4ÝåMêYã_á�ß�é)ö

�åfëzÝå4Ý�àQßzé�õ�ÞYè@æ ëMßzæ¹ÝÞ�ó@êQâ@ï+è4ë+âCó4êYâ4ã_Þ`ãmÞ`å4ïzêeå4Ý�áÝ�ÞYÞQß�àYã_é¬ì�êQâ@Ý$áßzÞYÝ�ö��`â4ã_Þ`ÞaãmêQè4ß�êQãmï+åÞYâ4ïzè4é_í ò4àaã_å4ë�êQïÑémã_ë+âMê�êYâ4ݺí4ã��.ÝàaÝå4á�ÝÞ ò�Ý�ê�øJÝÝåÆêQâ4Ý·ê�øJïùæ¹Ý�êYâ4ï0í@Þö!�`â4Ý�àYݺÝ�ô0ãmÞaêë+Ýå@ÝàQß�é¬õ�Þaè4æ ê�ø²ï�õ ñ é_ßcìzÝà�ó ê�ø²ï�õ�ßzá�êQã_ïzåjëMßzæ¹ÝÞ�øeãmêQâ ñ ï+ãmåMêQÞ�ãmåjêQâ@ݾÞaêYàQß�êYÝëzìjÞ ñ ß�áÝøeâ4ÝàaÝ`êQâ4Ý ñ é_ß�ì+Ýà±ãmÞ±ßzá�êQèvßzémémì$àYÝ�áÝ�ãmî]ã_å4ë¢ß!émïcø²Ý�à±Ý�ô ñ Ý�á�êYÝí ñ ß�ì+ï���êYâvßzå³êQâ@Ý`Ý��kè4ã_émã_ò0õàYãmè4æ î�ßzémè4Ýzó+ò@è@êÄå4ïzê�é_ïcøJÝà�êYâvßzå êQâ4ÝeÝ�ô ñ Ýá�êQÝí ñ ß�ì+ï��ºï�ð.êYâ4ÝeÝ��kè4ã_émã_ò4àaã_è4æ Þ�êQàQß�êQÝë�ìßzëMßzãmå4Þaê¹êQâ4ß�ê ñ é\ß�ì+Ý�àö 2�ÞaÞYÝ�åkêYã\ßzémémìzó�êYâ4Ý ñ é\ß�ì+Ý�à¾ã_Þ¹å4ïzêÅí4ï+ãmå4ë ñ ï]ï+àYé¬ì�ò.Ý�á�ßzè@ÞYÝ�â4ãmÞÞaêYàQß�êYÝëzìÑãmÞ ñ ï0ïzàóGò4è@ê�àQß�êQâ4Ý�à�ò�Ýáßzè4ÞYÝÅïzð²êYâ4Ý ñ é\ß�ìÑïzðJêQâ4ÝÅïzêQâ4Ý�à ñ é\ß�ì+Ý�àö�}ê�ãmÞ$ß�êêQâ4ãmÞ ñ ï+ã_åMê²êYâvß�ê;êYâ4Ý!ë+àYßzí4ãmÝåMê;ãmÞ;é_ã��zÝé¬ì êQï�ò�Ý!æ¹ïDî]ãmå4ë�êQâ@Ý�ÞaêQàYß�êQÝ�ëzì¾ßcø²ß�ì�ðWàYïzæ êYâ4ÝÝ��kè4ãmé_ã_ò@àYã_è@æfóßzå4í�Þaï�è4Þaã_å4ë®êQâ4ÝJé\ß�êaêQÝàtàaè4é_ݱêQïSí4Ý�êYÝàaæÅãmå4ÝÄøeâ@Ýå�øeãmå4å4ã_å@ë4ócêQâ4Ý ñ é\ß�ìzÝàø²ïzè4é_íÅæÅïcî+Ý®ß�ø²ßcì ðWàaï+æ êQâ4Ý®Ý��kè4ãmé_ãmò4àYãmè4æ �kè4ãmá5�kémì+ó]ßzå@í¾í4ãmÞYáïzè4àQßzëzÝ®á�ï+åMî+Ý�àYë+Ý�å4áÝ�ö �

� C � C�� 9 854�� '0# 8)$I8�+7&�!

�`â4ݳë+àYßzí4ã_Ý�åMê¢ßzÞYá�ÝåMê�ßzé_ëzï+àYã¬êQâ4æ ßzå@í4�ùï?E�� ë+àYßzí4ã_Ý�åMê¢ßzÞYá�ÝåMê$æ¾ß��zÝÞ�Þaï+æ¹Ý�ÞaêYàYã_á�êàYÝ��]è@ã_àYÝ�æÅÝ�åMêQÞÄï+åÅêYâ4Ý �]å@ïDøeémÝí4ëzÝSêQâ4ß�êÄã_ÞÄß�îzß�ã_é\ß�ò4é_ÝÄêQï¢êQâ4Ý ñ é\ß�ìzÝàö � ñ Ýá�ãmúváßzé_é¬ì+ó+ò4ß�õÞYãmáSë+àYßzí4ãmÝåMêJßzÞYá�ÝåMê;àaÝ��kè4ã_àaÝÞ�êQâ4ÝeðWï+émé_ïcøeã_å4ë!êYï�ò�Ý �]å@ïDøeå;"]êYâ4Ý ñ é\ß�ì+Ý�à�� Þ²ïcøeå ñ ß�ìzï��æ¾ß�êQàYã�ô >Oã)ö Ýzö¬ó�P ;ðWï+à²êYâ4Ý�àYïcø;õ ñ é\ß�ì+Ý�à @�ó4ßzå4í�êQâ@Ý¢ßzá�êYèvßzé=í@ã_ÞaêYàYãmò4è@êQãmï+å¾ï�ð ß�á�êQãmï+å4Þ²êYâ4ÝïzêQâ@Ýà ñ é_ßcìzÝà³ãmÞ ñ é\ß�ì]ã_å@ë >&$���ðWï+à�êQâ4Ý·àaïDø;õ ñ é\ß�ìzÝà @�ö!�`â4Ý�ÞYÝ·ê�ø²ïÑàaÝ��kè4ã_àaÝæ¹ÝåMêQÞ¹ßzàaÝò.ï�êQâÅîzÝà�ì¾Þ�êQàYïzå4ë4ó ñ ßzà�êQã_á�è4é\ß�àYémì�êQâ4Ý®é\ß�êYêQÝ�àö ��ðqêQÝ�åÅêQâ@Ý ñ ß�ì+ï��=Þ²ßzàYÝ®å4ïzê �kå4ïcøeåºßzå4í

� �²�Ñ�QÀM�c��¦]���¹�c«e£��k�a©ù�f�¢�������hÀ��D�c������£V¼ � � �� � `� � � ¼ � � � �� ` �� � � ¼:µÄ����©���©k�£����a�����V�c­Ñ¦4�D�����V¼ � -�� � � � � - � " � �a¯�°�©M�Å�D�k��­ &J�c£�©û��Çz�k������§k�����k� ��£ � � " � - � " � �a¯ �Ä���]�Q�c¼� � � -�� � � � " -�� � � -�� � � � " ��� � � � -�� � � � � ¼t�c�k¤�£��·��©M�³�7µ:�º�a�k����£�µ:�D�]��¤

¤k�¬£����c���V�c¯

O �

Page 27: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

àQß�êYâ4Ýà�å4ÝÝ�í�êQï�ò�ݾémÝ�ßzàaå4Ýí î]ã\ß5Ý�ô ñ ÝàYãmÝå4á�Ýzó±ß�å4í Ý�îzÝå æ¹ï+àYÝÅïzðqêQÝ�å ï+å4é¬ìûêYâ4Ý·ßzá�õêQãmï+åfÞaÝémÝá�êYÝífòkìºêYâ4Ý�ï�êQâ4Ý�à ñ é_ß�ì+Ýà®ã_Þ �kå4ïcøeå >Wãmð�Ý�î+Ý�å½êQâvß�ê @`ßzå4ífå4ïzê®êQâ4Ý ñ é\ß�ìzÝà�� Þí4ã_Þ�êQàaã_ò4è@êYã_ï+å·ïcîzÝà®ßzá�êYã_ï+å@Þö

�jï E �5ë+àQß�í4ã_Ý�åkê ßzÞaáÝåMê ñ àYï]áÝÝ�í4Þ êYï!ßzí4í�ß®ðWè4à�êQâ4Ý�à àYÝ��kè4ã_àaÝæ¹ÝåMê êYâvß�ê±ß ��ßzÞaâ�Ý��kè4ã�õé_ãmò4àYãmè4æ æ�è4Þ�ê¢ßzé_Þaï·ò.ÝD�]å@ïDøeå=ö�å�êQâ4ãmÞ!á�ßzÞaÝzó=êYâ4ã_Þ�ã_Þ�å@ïzê�àYÝßzé_é¬ì5Ý�ô]êQàYß �kå4ïcøeémÝí4ë+Ý�óÞYãmå4áÝ�ã¬ê³á�ß�å�ò.Ý�á�ï+æ ñ è@êQÝ�í ðWàYï+æ êQâ@ÝF�]å@ïDøeå ñ ß�ìzï��=Þ�ö!}ðeø²Ý�ø²ßzåMê³êQï�æÅß���ݾêQâ4ãmÞßzé_ëzï+àYã¬êQâ4æ�æ¹ï+àaݾë+Ý�å4ÝàYßzé)ótêQâ4ïzè4ë+âCó:ãmê$øeã_é_é�å4Ý�Ýí�êQï½ò.ݾßzí4í4àaÝÞYÞaÝí â4ïcø êQâ4Ý·ß�é_ë+ï�õàYã¬êQâ4æ í4Ý�êQÝ�àYæ¹ã_å4Ý�Þ$øeâ4Ý�êQâ4Ý�à�ãmê�� Þ¢øeã_å@å4ã_å4ë5ï+à$é_ï+Þaã_å4ëºøeâ4Ý�å�ßzå Ý��]è@ã_é_ãmò4àYãmè4æ ãmÞ�å@ïzê�kå4ïcøeå ò�Ýáßzè4ÞaݺêYâ4Ý ñ ß�ìzï��=Þ¹ßzàaÝ�å4ïzê �]å@ïDøeå=ö!�å êQâ4Ý·å@Ý�ô]ê ÞYÝ�á�êQãmï+å øJÝ�øeã_é_éÄé_ï]ï �ß�ê¢ßzå�ßzé_ë+ïzàYãmêYâ4æ êQâ4ß�ê�àYÝ�æÅïcîzÝÞ¢ßzémé?ï�ðÄêYâ4ÝÞaÝ �kå4ïcøeé_Ýí@ë+ݳáï+å@ÞaêQàYßzã_åMêYÞ�ßzå4í�øJݳë+ãmîzÝÝæ ñ ã_àaã_áßzé=àaÝÞYè@émêQÞeï+åºæ¹ï+àYÝ�ëzÝå4Ý�àQßzéGÞ�êQï]áVâvßzÞaêYã_á¢ëMßzæ¹ÝÞ�ó4å4ïzê!�aè4Þ�ê®æ¾ß�êYàYã�ô�ëMß�æÅÝ�Þö

� � � ÖSvÚzÕcÛ7ÚE�� � � ��׸Ö�ÛqÕS�2�

�jÝÅå4ïcø øeã_émé ñ àYÝ�ÞYÝ�åkê³ßfæ¹ï+àYÝ ë+Ý�å4ÝàYßzé²ß�é_ë+ï+àaãmêYâ4æ è4Þaã_å4ëºêQâ@ÝJ�ùï?E�� ñ àaã_å4á�ã ñ émݳêQïî�ßzàaì¢êQâ@ݲé_ÝßzàYå@ã_å4ëeàQß�êQÝzö��ùÝJøeã_éméMò.Ý�ë+ã_å$òMì�í@ÝÞYá�àYãmò4ã_å4ë�ßSÞaã_æ ñ é_Ý�àQß�êQã_ïzåvßzékßzémë+ï+àYã¬êQâ4æ5óñ ïzé_ã_á�ì�â@ã_é_é�õ�á�é_ã_æ�ò4ã_å4ë > / b �?@�ócêQâ4ß�ê?í4ï0Ý�Þtå4ïzêtáïzåkîzÝàaë+Ýzö,�`â4ã_Þ?ßzémë+ï+àaãmêQâ@æ¨ãmÞtÞYã_æ¹ã_é_ßzà¸êQïë+àQß�í4ã_Ý�åkê:ßzÞaáÝ�åkêóDò4è@ê?í4ï]ÝÞ?å4ïzêtàYÝ��kè4ã_àaݲßzÞtæ�è@áVâ �kå4ïcøeé_Ý�í4ë+Ý�ö��ùÝ�øeã_é_é�êQâ4Ý�å�í4Ý�ÞYá�àYã_ò�Ý�jï E �tõC/ b���óøeâ@ã_áVâ¢îzß�àYã_Ý�ÞCêQâ4ݱémÝ�ßzàaå4ã_å@ë`àQß�êYÝ�ßzáá�ï+àYí4ãmå4ë`êQïeßzå�ß ñ4ñ àYï�ô0ã_æÅß�êQÝ�å@ïzêQãmï+åïzð@øeãmå4å4ãmå4ë4ö��åD�0Ýá�êQã_ïzå��0ó�êYâ4ÝÞaÝ;ßzémë+ï+àYã¬êQâ4æ¹Þ.øeãmé_é+êYâ4Ýå�ò.Ý�Ý�ô@ßzæ¹ã_å@Ýí$ã_å�ß®åkè4æ�ò�Ýà?ïzðÝæ ñ ã_àaã_áßzé+Ý�ô@ßzæ ñ émÝÞtðWàYï+æ<æÅß�êQàaã¬ô!ëMßzæ¹ÝÞGêQï �Ýàaï�õ�Þaè4æ ßzå4í�ë+Ýå4Ý�àQßzé�õ�Þaè4æ'ÞaêYï0áVâ4ßzÞaêYã_áëMßzæ¹ÝÞ�ö

� C�� 9 ),./'*3�1'3 '0.0. " !./'�$ >�'0+:9

�jÝ;ú4àYÞaê ñ àaÝÞaÝåMêJߢÞaã_æ ñ é_ÝJàQß�êYã_ï+å4ßzé0émÝ�ßzàaå4ã_å@ë�ßzé_ëzï+àYã¬êQâ4æ<êQâ4ß�ê�ã_Þ�áß ñ ßzò@é_Ý;ïzð ñ é_ßcì]ãmå4ëæÅã�ô0Ýí·ÞaêYàQß�êYÝë+ãmÝÞ�ö }êeã_Þ`ß�Þaã_æ ñ é_Ý�Ý�ô]êQÝ�å4ÞYãmï+åºïzð ��õ}é_ÝßzàYå4ãmå4ë³ßzå@í5ãmÞ;ÞYâ@ïDøeå5ã_åF�:ßzò4émÝ�0ö@�`â@ÝÑßzé_ë+ïzàYãmêYâ4æ5ó±ã_å ÝÞaÞYÝ�å4áÝ�ó ñ Ýà�ðWï+àYæ¹Þ¾â@ã_é_é�õ�á�é_ã_æ�ò4ã_å4ë�ãmå êQâ4Ý½Þ ñ ßzá�ÝÑïzð¢æÅã�ô0Ýíñ ïzé_ã_á�ã_Ý�Þö �Sõ}î�ßzémè4ÝÞ ß�àYݺæ¾ß�ã_åMêVßzãmå4Ýí �aè4Þ�êÅßzÞÅãmå å4ï+àYæÅßzé �Sõ�émÝ�ßzàaå4ã_å@ë4öL�åÆßzí4í4ã¬êQãmï+åêQâ4Ý�ßzémë+ï+àYã¬êQâ4æ æÅßzã_åMêVß�ã_å4Þ;êYâ4Ý�á�è4àYàaÝåMê!æ¹ã¬ô0Ý�í ñ ï+émã_á�ìzö7�`â4Ý ñ ï+émã_á�ì�ã_Þeãmæ ñ àaïcî+ÝífòMìã_å4á�àYÝßzÞYãmå4ë�êQâ@Ý ñ àYïzòvßzò4ãmé_ãmê�ì�êQâvß�ê�ãmê:ÞYÝémÝá�êQÞ�êQâ@Ý;â4ã_ëzâ4ÝÞ�ê î�ßzé_è@Ýí³ßzá�êQãmï+å³ßzá�áï+àaí4ã_å4ëSêQïßÅémÝ�ßzàaå4ã_å4ë àYß�êQÝ � " > [ I^B`_7ö-�SïzêYã_áÝ�êYâvß�ê®øeâ4Ýå � < B$êYâ4Ý�ß�é_ë+ï+àaãmêYâ4æ ãmÞSÝ��kè4ãmî�ßzémÝåMêêQï �Sõ�émÝ�ßzàaå4ã_å4ë@óÄÞaã_å4á�Ý�øeãmêQâ ÝßzáVâ¨ÞaêQÝ ñ êYâ4Ý ñ ïzé_ã_á�ì æÅïcî+Ý�Þ·êQï�êQâ4Ý�ëzàYÝÝ�í@ì ñ ï+é_ãmá�ìÝ�ô0Ýá�è@êQãmå4ë êQâ4Ý¢â4ãmë+â4ÝÞ�êeîzß�é_è4Ý�ífß�á�êQãmï+å·øeãmêYâ ñ àYï+òvß�ò4ã_émãmê�ì:B�>WæÅï]í4è4émï�Ý�ô ñ émï+àQß�êQã_ïzåF@�ö

�`â4ã_Þ�êYÝáVâ4å@ã��kè4Ýzó±émã���Ý �Sõ�émÝ�ßzàaå4ã_å4ë@ó?ãmÞ�àQß�êQã_ïzåvßzéJßzå4í�øeã_éméJá�ï+åMî+Ýàaë+Ý·êQïÑßzå ï ñ êQã_æÅßzéñ ïzé_ã_á�ì¹ãmðGêQâ@Ý�ïzêQâ4Ý�à ñ é\ß�ìzÝàYÞeß�àYÝ ñ é_ß�ì0ãmå4ë³ÞaêQß�êQãmï+åvßzà�ì¹ÞaêQàYß�êQÝ�ë+ã_Ý�Þö �`â@Ý ñ àYï]ïzðtðWï+é_émïcøeÞðWàYï+æ êQâ4Ý ñ àYï]ïzð®ïzð �Sõ}é_Ý�ß�àYå4ãmå4ë�> O [ @�ó:øeâ4ã_áVâ ë+èvß�àQßzåMêQÝ�ÝÞ³êQâ@Ý (#î�ßzé_è4Ý�Þ�øeã_émé²áïzå0õî+Ý�àYë+ݹêQï ( �¢øeãmêQâùßfÞaè4ãmêQßzò4émݳÝ�ô ñ é_ïzàQß�êYã_ï+å ñ ï+é_ãmá�ì+ö�� � øeã_é_é áï+åMî+Ý�àYë+ÝÅêQïfß ñ ï+é_ãmá�ì� Ék�c���c���?�c���c�c������©k�$£e���·��©k�¬£e���������V���$µ:���c£�£��k���$��©k���S�c�5�QÀz¦]���c���������D�º¦4�D���¬�Q­Å£��k������§]���

O 6

Page 28: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� � �¾�¸�V�� � � � - � �c�k¤ � � � � - � §4�e�������a�k���M�!��������£V¯]¿)�k�������c��� V�c¼� ��� - , �!� � - � ��� - , � � �� � � � "

� � � ���V¦4�����V¼� ����Ék���D� £�������� � £��������Q�G�c�Q�����D� , �c�V�Q�c�a¤k���M�²���`�¢�hÀ+��¤S£����a�����V�c­ � ��� �¸µJ����©S£��k������§]����QÀ+¦]���c�a�������D�v¯

� §(���;§]£��V��¡+���M�!���Vµ�����¤����c�k¤³�M�QÀ+�Ä£�������� � � ¼�.��� - , ��� � � � � �.��� - , � � �� � � � �¢�À% � ��� � - , � ��� "

� �+���J¦v¤k����� � ��� - , ���c�k¤³�Q�D�k£������c�¬� ���±���$�¢���V�D�c�v¦k���c§]��§0�������7­$¤k��£����a��§]�M�����D�¸¼� ��� - , � � � ��� - , � �� � � ��« , � �����D�¢�À % � ��� - , � �

(��� � � � (/ �²��©M�V��µÄ��£�� "

°=��§]��� �°�©k�`¦@�D�¬���Q­�©k�¬���h¶O�V�����S§]���k�e�c���c�c������©k� � ´ �����:«m�c�J¦]����­c�V� $�¯êQâvß�ê¢ã_Þ�ë+àaÝÝí0ìûßzáá�ï+àYí4ãmå4ë·êQï�( ó=øeâ4ã_áVâûã_Þ�á�ï+åMî+Ý�àYë+ãmå4ë5êYï�( � óGß�å4íûêYâ4ÝàaÝ�ðWï+àaݳøeã_é_éáï+åMîzÝàYëzÝ�êQï·ß¹ò.Ý�Þaê�àYÝÞ ñ ïzå4ÞYÝ�ö -!ÝÞ ñ ãmêYÝ$êYâ4Ý�ðOßzá�ê�êYâvß�êSãmêSã_Þ®àQß�êYã_ï+åvß�étßzå4í�áßzå ñ é_ßcìæÅã�ô0Ýí ñ ïzé_ã_á�ã_Ý�Þózã¬ê�ÞaêYã_é_é@í4ï0Ý�ÞYå� êÄÞYâ4ïcøäß�åkì ñ àYï+æ¹ã_ÞaÝ`ïzð=ò�Ýãmå4ë¢áï+åMîzÝàYëzÝåMê�ö �jÝ®ÞYâ@ïDøÝ�ô@ßzæ ñ é_Ý�Þeïzð ã¬êQÞ`á�ï+åMî+Ýàaë+Ýå@áÝ�ðOß�ã_é_è@àYÝÞ²ã_å �0Ýá�êQãmï+å �0ö

� C � � ) e&a9 ),./'*3�1 3 '0.0. " !./'�$ >�'0+:9

�jݳå@ïDø ã_åMêYàYï]í4è4áÝ�ߺæ¹ï]í4ãmúváß�êQãmï+åºêQï�êQâ@ݳåvß � � îzÝ ñ ïzé_ã_á�ì5â4ã_émé¬õ�á�é_ãmæ�ò4ã_å@ë ßzé_ë+ïzàYãmêYâ4æêQâvß�ê¢Ýå4á�ï+è4àQß�ë+ÝÞ�êQâ@ݳí4ÝÞaã_àYÝ�íùá�ï+åMî+Ý�àYë+Ý�å4áÝ ñ àYï ñ Ýà�ê�ì½øeã¬êQâ4ï+è0ê¢ÞQßzá�àYãmú4áã_å@ë�êQâ4ݳàYß�õêQãmï+åvßzé ñ àaï ñ Ýàaê�ìzö��`â4ݲßzé_ëzï+àYã¬êQâ4æ'è@ÞYÝÞ�ß®î�ßzàYã_ßzò4émÝÄémÝ�ßzàaå4ã_å@ëSàYß�êQÝ�ó � óDøeãmêQâ$êQâ4Ý �jï E �Jó� �äã_å½ï+àAEGÝ�ßzàaåG�¸ßzÞaê� 4ó ñ àYã_å@áã ñ é_Ýzö��`â4ݳàaÝ��kè4ãmàYÝí�áVâ4ßzå4ë+Ý�Þ!êQï ñ ï+é_ãmá�ìºâ4ãmé_é¬õ}áémã_æ�ò4ãmå4ëßzàYÝ¢Þaâ4ïcøeå½ã_åF�:ßzò4émÝ��@ö

� Þ¢ß�àaÝæ¹ã_å4í4Ý�àó¸êQâ4Ý �ùï?E�� ñ àaã_å4á�ã ñ émÝ�ßzãmí4Þ!ãmå�áï+åMîzÝàYëzÝå4á�ÝÅòMì�ëzãmî]ã_å4ë¾æÅï+àaÝ�êYã_æ¹ÝðWï+à;êQâ@Ý$ï�êQâ4Ý�à ñ é\ß�ì+Ý�àYÞeêQï¹ßzívß ñ ê`êQï áVâvßzå@ë+ÝÞ®ã_å·êQâ@Ý ñ é\ß�ì+Ý�à�� ÞSÞ�êQàYß�êQÝ�ëzì�êQâ4ß�ê®ß�ê`úvàaÞaêß ñ4ñ Ý�ßzà�ò.Ý�å4Ý�úvá�ã\ßzé7ó:øeâ4ãmé_ݾßzé_émïDøeãmå4ëfêYâ4Ý ñ é_ßcìzÝà�êYïÑßzívß ñ ê³æÅïzàYÝ �kè4ãmá5�]é¬ìjêYï�ïzêQâ4Ý�àñ é\ß�ìzÝàYÞ���ÞaêYàQß�êYÝëzìùáVâvßzå@ë+ÝÞ�øeâ4Ý�å�êQâ4Ý�ì�ßzàaÝ�âvßzàaæ¹ðWè4é7ö/�àYßzá�êYã_áßzé_é¬ì+óGêQâ4Ý�ßzé_ë+ïzàYãmêYâ4æàYÝ��]è@ã_àYÝ�Þ5ê�øJïçémÝ�ßzàaå4ã_å@ë ñ ßzàQßzæ¹Ý�êYÝàaÞ � 3 � ��� ö �`â4Ý ñ ßzàYßzæ¹Ý�êQÝ�à·êQâvß�ê5ãmÞ5è@ÞYÝí êQïè ñ ívß�êQݹêQâ4Ý ñ ïzé_ã_á�ì�í4Ý ñ Ý�å4í4Þ�ï+åûøeâ4Ý�êYâ4Ýà�êQâ4ݾßzë+ÝåMê�ã_Þ$áè4àaàYÝåMêYémìûí4Ý�êYÝàaæÅãmå4ÝíûêQïò.ݳøeãmå4å4ã_å@ë5ïzà$émï+ÞYãmå4ë4ö �`â4ã_Þ¢í4Ý�êQÝàaæÅãmåvß�êYã_ï+å�ãmÞ�í4ï+å4ݹòMìÑáï+æ ñ ßzàaã_å4ë�øeâ4Ý�êQâ4Ý�à$êYâ4Ý«_�c���D�k���¬�M�`���������k���k� � � � ����£±�k£���¤¸¯

O �

Page 29: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� � �¾�¸�V��?¼ � 3 � � � §4�e���������k�¬�M�!��������£V¯k¿}�k�������c�¬� V�c¼� ��� - , �!� � - � ��� - , � � �� � � � - � ��� �!� � "

� � � ���V¦4�����V¼� ��� ÈM�c���®�c£�´ � � �¬�³°.��§]��� �� §(�³ÈM�c���®�c£�´ � � �¬�³°.��§]��� �� �+���J¦v¤k�����`��£������$�����®�c«C��¡c�V�����c��¦4�D�����Q­c¼��� ¼

� ��� � � � ��� � � �� , � � � � �� ��� - , � � � �

� ��� � � � ��� - , � � � �� ��� - , � ��� "� ¤ � �J¦v¤k����� � ��� - , ���c�k¤³�Q�D�k£������c�¬� ���±���$�¢���V�D�c�v¦k���c§]��§0�������7­$¤k��£����a��§]�M�����D�¸¼

� ��� - , � � � ��� - , � � � � � ��« , � �����D�¢�À % � ��� - , � �(��� � � � (/ �²��©M�V��µÄ��£�� -

µJ©M�V���c¼

� � � � � � ��« ) % � ��� - , � � � ��� - , � � � ) % �� ��� - , � � �.��� - , � �� 3 �c��©M�V��µJ��£�� "

°=��§]��� �°�©k�`÷�D��É�¦4�D�����Q­�¶O©k���¬�]�V�����S§]���k���c���c�c�a����©k� � ÷�D��É.¶O´ � ����«_�c��¦]����­c�V� $�¯áè4àaàYÝ�åkê?Ý�ô ñ Ýá�êQÝ�í�î�ßzé_è@Ý�ã_ÞGë+àaÝ�ß�êYÝàCêYâvßzå�êQâ4ݱá�è4àYàaÝåMê?Ý�ô ñ Ýá�êYÝí$îzß�é_è4ݱïzðkêYâ4ÝÄßcîzÝàYßzë+Ýñ ïzé_ã_á�ì+ö:}ð:êYâ4Ý!á�è4àYàaÝåMê®Ý�ô ñ Ý�á�êYÝíºîzß�é_è4Ý!ãmÞ;é_ïcøJÝà >Wã)ö Ýzö¬ó0êQâ@Ý¢ßzë+ÝåMêeãmÞM�aé_ïzÞYã_å@ë �@�óMêYâ4ÝåêQâ4ݾé\ßzàaë+Ýà$é_ÝßzàYå4ãmå4ë5àQß�êYÝ � 3 ã_Þ�è4ÞYÝ�íCó ï�êQâ4Ý�àaøeã_ÞaÝ � � ã_Þ�è4ÞYÝ�íCö!�`â4Ý�ßcîzÝàYßzë+Ý ñ ï+é_ãmá�ìã_Þ³ãmåkêYÝå4í@Ýí êQï�êVß���Ý·êQâ4Ý ñ é_ßzáÝ·ï�ðSêYâ4Ý·è4å �kå4ïcøeåçÝ��kè4ã_émã_ò4àaã_è4æ ñ ï+é_ãmá�ì+öL�vï+à³æ¾ß�åkìëMßzæ¹ÝÞ�ócß�î+ÝàYßzë+ãmå4ëeïDîzÝàtë+àaÝÝí0ì ñ ïzé_ã_á�ã_Ý�ÞCí4ï]ÝÞGã_å�ðOßzá�ê?ß ñ4ñ àaï�ô@ãmæ¾ß�êQÝ êYâ4Ý�Ý��kè4ã_émã_ò4àaã_è4æ5óøeâ4ã_áVâ�ãmÞ$êYâ4Ý�í4àaãmî]ã_å@ë½æ¹ÝáVâvßzå@ã_ÞYæ ãmåùúvá�êQãmêYã_ï+è@Þ ñ é_ß�ì >CBEBS@�ö �å Þaè4æ¹æ¾ßzà�ì+ó��jï E �tõ/ b��Áã_åMêYàYï]í4è4áÝ�Þ�>Wã�@²ê�ø²ï¾é_Ý�ß�àYå4ãmå4ë àQß�êYÝÞó.ßzå4íW>Oãmã�@JêQâ@Ý�í4Ý�êQÝàaæÅãmåvß�êYã_ï+åºïzð�øeãmå4å4ãmå4ëßzå4íûé_ï+Þaã_å4ë¾è4ÞYãmå4ë·êQâ4ݹß�î+Ý�àQßzë+Ý ñ ï+é_ãmá�ì½ßzÞ¢ßzåùß ñ4ñ àaïcô0ãmæ¾ß�êYã_ï+åfðWï+à!êQâ4Ý Ý��]è@ã_é_ãmò4àYãmè4æñ ïzé_ã_á�ì+ö

�jï E � ñ ïzé_ã_á�ì·â4ãmé_é¬õ}áémã_æ�ò4ãmå4ë�ãmÞSÞ�êQãmé_éGàQß�êQã_ïzåvßzé)ó@ÞYã_å@áÝ�ïzå4émì·êYâ4Ý�Þ ñ Ý�Ýí�ïzð�é_Ý�ß�àYå4ãmå4ëÅãmÞßzémêYÝàaÝíCö,}êQÞ�á�ï+åMî+Ý�àYë+Ý�å4áÝ ñ àaï ñ Ý�àaêYã_ÝÞ�ó�êYâ4ï+è4ëzâCó+ßzàaÝ@�kè4ã¬êQÝ;í4ã��=Ý�àYÝ�åkêö��å�êYâ4Ý;å4Ý�ô]ê±ÞYÝ�á�õêQãmï+å¹øJÝ!Þaâ4ïcø Ý�ô@ßzæ ñ é_ÝÞ�êQâ4ß�êJêYâ4ã_ÞÄêQÝ�áVâ4å4ã��kè4Ý�áï+åMî+Ý�àYë+Ý�Þ²êQï�ò.Ý�Þaê�õ�àYÝ�Þ ñ ï+å4ÞaÝ ñ ï+émã_á�ã_ÝÞðWï+àeß³åkè4æ�ò�Ýà®ßzå4íºî�ßzàYãmÝ�ê�ì�ï�ð�ÞaêYï0áVâ4ßzÞaêYã_á�ëMßzæ¹ÝÞ�ö

O �

Page 30: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� � ����Ù,�qÕS��jݹå4ïcø�Þaâ4ïcø�àYÝ�ÞYè4é¬êQÞ$ïzð`ß ñ@ñ émì]ã_å@ë ñ ï+émã_á�ì�â4ã_émé¬õ�á�é_ãmæ�ò4ã_å@ëÅß�å4í �ùï?E�� ñ ï+émã_á�ì½â4ã_émé¬õáémã_æ�ò4ãmå4ë�êQïjßjåkè4æ�ò�Ýà¾ï�ð�í4ã��.ÝàaÝåMê�ë+ßzæÅÝ�Þö �`â4Ýfí4ï+æÅßzã_å4Þ¹ã_å@áé_è@í4Ý5ê�øJï æÅß�êQàaã¬ôëMßzæ¹ÝÞÄêQâvß�ê²â4Ýé ñ êQï�Þaâ4ïcø¨â4ïcø¨êYâ4Ý�ßzémë+ï+àaãmêQâ@æÅÞ±øJï+à��Åßzå4í�êYï�í4Ýæ¹ï+å4Þ�êQàYß�êQÝSÝæ ñ ã_à�õã_áßzé_é¬ì�øeâvß�êÄêQâ@Ý®êYâ4Ýï+àaÝ�êYã_á�ß�é�àaÝÞaè4émêYÞJãmå �0Ý�á�êYã_ï+å � ñ àaÝí4ãmá�êYÝíCö �`â4Ý�ßzé_ë+ïzàYãmêYâ4æ¹Þ ø²Ý�àYÝßzé_Þaï�ß ñ@ñ é_ãmÝíùêYï½ê�øJï�æ�è4émêYã¬õ}ÞaêVß�êQÝ ÞaêYï0áVâvß�ÞaêQãmá�ëMßzæ¹ÝÞ�ö ��å@Ý�ã_Þ�ß½ë+Ýå@ÝàQß�é¬õ�Þaè4æ ë+àYãmíø²ïzàYé_íjí4ï+æÅßzã_åùè4ÞYÝ�í�òkì bSè�� �ùÝé_émæ¾ß�å >CBS�%@�öL�`â4Ý�ï�êQâ4Ý�à�ã_Þ�ß �Ý�àYï�õ}ÞYè4æ ÞYï]áá�ÝàëMßzæ¹Ý�ã_åMêQàaï0í@è4áÝ�ífòMì EGãmêaêQæÅßzå >KB`��@�ö$�ùÝ�ßzé_Þaï³Ý�ô@ßzæ¹ã_å4Ý$ß�úvåvßzéGæÅß�êYàYã¬ô¾ëMßzæ¹Ý!êQâ4ß�êã_åMî+ïzémî+Ý�Þ²êQâ@àYÝÝ ñ é\ß�ì+Ý�àYÞ�ö7� ã_å4ßzé_é¬ì+ózøJÝ�ò4àYãmÝ��4ìÅé_ï]ï � ß�êJêQâ4Ý ñ Ý�àaðWï+àaæ¾ßzå@áÝ�ï�ð��jï?E��ûã_åß�ðWÝ�ø'å@ï+å0õ�ÞaÝé¬ð\õ ñ é_ßcì¾Ý�ô ñ ÝàYãmæÅÝ�åMêQÞö

�`â4Ý`úvàYÞ�êÄÞYÝ�êÄïzð�Ý�ô ñ Ýàaã_æ¹ÝåMêQÞ�ãmåkîzï+émîzÝÞ±êQàYßzã_å@ã_å4ë�êYâ4Ý ñ é\ß�ìzÝàYÞ±è@ÞYã_å@ë¢êYâ4ÝeÞQßzæ¹Ý`é_ÝßzàYå]õã_å4ë ß�é_ë+ï+àaãmêYâ4æfö:�]ã_å4á�Ý</ b �¨ß�å4íF�jï?E��?õ / b�� ßzàYÝ�àYß�êQãmï+åvßzé7óMø²ÝA�kå4ïcøÁêYâvß�ê`ã¬ðtêQâ4Ý�ìáï+åMîzÝàYëzݳßzëMßzãmå4Þaê®êQâ@Ýæ¹ÞYÝé¬î+Ý�Þó¸êQâ4Ý�å½êQâ4Ý�ì½æ�è4ÞaêSâvß�î+Ý�á�ï+åMî+Ý�àYë+Ý�í�êQï�ßJ��ßzÞaâ�Ý��kè4ã�õé_ãmò4àYãmè4æ >*�0Ý�Ý �0Ý�á�êQãmï+å O ö O @�ö!�vï+à¢êQâ4Ý�æÅß�êYàYã¬ôùëMß�æÅݹÝ�ô ñ ÝàYãmæÅÝ�åMêQÞ � 3 � ��� < O ó?ò4è@êðWï+à!êQâ@ÝÅÞ�êQï]áVâvßzÞaêYã_á ëMßzæ¹Ý³àYÝ�ÞYè4é¬êQÞ$ߺæÅï+àaÝ ßzë+ë+àaÝÞaÞYãmîzÝ � 3 � � � < �ºø;ß�Þ$è@ÞYÝí=ö �åùßzé_éá�ßzÞaÝÞÅò.ïzêYâ êYâ4Ý � ßzå4í/ <é_Ý�ß�àYå4ãmå4ëÑàQß�êYÝÞ³ø²Ý�àYÝfí4Ýá�àYÝ�ß�ÞYÝíçòkì ß�ðOßzá�êQï+à ã_åMîzÝàYÞaÝé¬ìñ àYï ñ ï+à�êQãmï+åvß�êYÝ�êQïÑêQâ4Ý5åkè4æ�ò�Ýà ïzð�êYã_æ¹ÝÞ³êQâ@Ý5Þ�êVß�êYÝfâ4ßzíçò�ÝÝ�åÆî]ã_ÞaãmêQÝ�íCó�ßzé¬êQâ4ï+è@ë+âêQâ4ݺÝ�ô4ß�á�ê ñ àYï ñ ï+à�êQãmï+å î�ßzàYãmÝí ò.Ý�ê�ø²Ý�Ýå í@ï+æ¾ß�ã_å4Þ�öL�`â4Ý�ÞYÝ5é_Ý�ß�àYå4ãmå4ë�àQß�êYÝÞ³øJÝàYÝ5ïzðáï+è@àYÞYÝ$ÞYÝ�ê®òkì�âvßzå4íCóvò@è@êeøeãmêQâºémãmêYêYé_ÝSï+àeå4ï³úvå4Ý�êQè4å@ã_å4ë4ö$�å ñ àYßzá�êYã_áßzéGß ñ4ñ é_ã_áß�êQãmï+åCóÞYÝ�êYêQãmå4ë êQâ4Ý �é_ÝßzàYå4ãmå4ë³àQß�êQÝ$ßzå4ífí4ÝáßcìºãmÞeã_í4Ý�åkêYã_áßzé=êQï¹ÞYÝ�êYêYã_å4ë êQâ4ãmÞ`é_ÝßzàYå4ãmå4ë àQß�êYÝã_å �Sõ}é_Ý�ß�àYå4ãmå4ë4ö �`â4Ý � émÝ�ßzàaå4ã_å@ë�àQß�êQÝ�ßzå@í5í@Ýá�ß�ì¾àYÝ��kè4ãmàYÝ�Þ`ÞYï+æ¹Ý�ßzæ¹ï+è4åMê;ï�ð:áßzàYÝSêQïâvß�î+ݳã¬ê�ÞYÝ�ê¢ß ñ4ñ àaï ñ àaã\ß�êYÝ�ðWï+à�êYâ4Ý�î�ßzé_è@Ý�ïzð�êQâ@Ý�é_ÝßzàYå4ãmå4ë�àYß�êQÝ�ó=ã)ö Ýzö¬ó¸ø²Ý í4ï+å;� ê!ø²ßzåMêêQï³êVß��zÝ$é\ßzàaë+Ýà;Þ�êQÝ ñ Þ®êYâvßzåºêQâ4Ý émÝ�ßzàaå4ã_å4ë³àYß�êQÝ�áßzå5è ñ í4ß�êQÝ�î�ßzé_è@ÝÞ;ðWï+à�ö�äâ4Ýå�êQâ4ÝÄàYÝ�ÞYè4é¬êQÞ?ÞYâ4ïcø ñ ï+é_ãmá�ì�êYàQß��aÝ�á�êYï+àYãmÝÞócêYâ4ÝÞaݲáïzàYàYÝ�Þ ñ ï+å4í$êQï!ßeÞYãmå4ë+émÝ�êYàQßzãmå4ã_å@ëàYè4åÅïzðCêYâ4Ý�ß�é_ë+ï+àaãmêYâ4æ Þaâ4ïcøeã_å4ë�ß ñ àaïzêQï�ê�ì ñ ã_á�ß�é¸êYàQß��aÝ�á�êYï+àaì¹ïcî+Ý�àJêQãmæÅÝ�ök÷½ßzåMì êQàYßzã_å]õã_å4ëSàYè4å@Þ âvß�î+Ý`ò�ÝÝ�å ñ ÝàaðWïzàYæ¹Ýí�ãmå�Ý�ß�áVâ�í4ï+æÅßzã_å=ó�ß�é_é+øeãmêYâ�î+Ý�àaì�ÞYãmæÅãmé\ßzàCêYàQß��aÝ�á�êQïzàYã_Ý�ÞêQï³êQâ@Ý$ïzå4Ý¢ÞYâ4ïcøeå½ãmå·êQâ4ãmÞeßzàaêYã_áémÝzö

� C�� 6G%�&B3 �:'0+:9#9 8�+7+7'*8 ! %�+5;'9 )�3 *."H9 %)=78�# " �3�'8! !�),#+!�`â4ݳßzémë+ï+àaãmêQâ@æ ø²ßzÞ!ß ñ@ñ é_ãmÝífêYïÅê�øJï �Ý�àYï�õ}ÞYè4æ æÅß�êQàaã¬ôºë+ßzæÅÝ�Þó�æ¾ß�êQáVâ4ãmå4ë�õ ñ Ýå@å4ã_Ý�Þßzå4í·àaï0á5�+õ ñ ß ñ Ý�à�õ}ÞYáãmÞYÞaï+àYÞ >WÞYÝÝN�:ßzò4émÝTBS@�ö �å·ò.ï�êQâ·ëMßzæ¹ÝÞ�ó0êYâ4ÝN��ßzÞaâºÝ��kè4ã_émã_ò4àaã_è4æ�ãmÞß5æ¹ã¬ô0Ý�í ñ ï+émã_á�ì½áï+å@ÞYã_Þ�êQãmå4ëfï�ð²Ý�ô@Ý�áè@êYã_å4ë5êQâ4ÝÅßzá�êQã_ïzå4Þ�øeãmêQâÑÝ��]è4ßzé ñ àYï+ò4ßzò4ã_émãmê�ìzö �é\ßzàaë+Ý`åkè4æ�ò�ÝàÄïzð=êYàYã_ßzé_Þ±ß�å4í�ߢÞYæÅßzé_é@àQß�êYã_ï�ïzð.êQâ4Ý®é_ÝßzàYå4ãmå4ë¢àQß�êYÝÞ±ø²ßzÞ²è4ÞaÝíÅã_å¹ï+àYí4Ý�àêQï ã_émé_è4Þ�êQàYß�êQÝ!â@ïDø êQâ4Ý$ßzémë+ï+àaãmêQâ@æ émÝ�ßzàaå4Þ®ßzå4íºáïzåkîzÝàaë+ÝÞ�ö

� ã_ëzè4àYÝ � Þaâ4ïcøeÞ êQâ@ݲàYÝ�ÞYè4é¬êQÞ?ïzð¸ß ñ@ñ émì]ã_å@ëSò�ïzêQâ ñ ïzé_ã_á�ì�â4ãmé_é¬õ}áémã_æ�ò4ãmå4ëJßzå4íD�ùï?E�� ñ ï+é�õã_á�ì â4ã_émé¬õ�á�é_ãmæ�ò4ã_å@ë®êYï�êQâ@ÝSæÅß�êQáVâ@ã_å4ë ñ Ý�å4å4ãmÝÞÄëMßzæ¹Ýzö �ùï?E��?õC/ b�� �]è@ã_á5�kémì ò�Ýë+ãmå4Þ�êQïï+ÞYá�ã_émé\ß�êYÝSß�àYï+è4å@í�êQâ4Ý!Ý��kè4ã_émã_ò4àaã_è4æ øeã¬êQâ�Ý�î+Ý�à`í4Ýá�àYÝ�ß�ÞYã_å@ë ßzæ ñ é_ãmêYè4í4Ý�ö �äãmêQâ@ï+è@ê²êYâ4Ý�jï E � æ¹ï]í4ãmúváß�êQãmï+åCókãmê²ï+ÞYá�ã_émé\ß�êYÝÞ;ß�àYï+è4å@íºêYâ4Ý�Ý��kè4ãmé_ãmò4àYãmè4æfóMò@è@ê`øeãmêYâ·å4ï ß ñ4ñ Ý�ßzà�õ

� [

Page 31: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ßzå4á�Ý�ïzð$áï+åMî+Ý�àYë+ãmå4ë4ö �`â@ã_Þ·ã_Þ¾Ý�î+Ý�å æ¹ï+àaÝ�ï+òMî]ã_ï+è4Þ·ãmåçêQâ@Ý�ëMßzæ¹Ý�ïzð$àYï]á5�+õ ñ ß ñ Ýà�õÞYá�ã_ÞYÞaï+àYÞ�ö��`â4Ý¢àYÝÞaè4émêYÞeã_å � ã_ëzè4àYÝQ� Þaâ4ïcø'êQàYß��aÝá�êQï+àaã_ÝÞeïzð?êQâ@Ý ñ é\ß�ì+Ý�àYÞ���Þ�êQàYß�êQÝ�ë+ã_Ý�Þ`ã_åñ ïzé_ã_á�ì�Þ ñ ßzáÝ®êQâ4àaï+è4ë+âÅï+å4Ý®æÅãmé_émã_ï+å�Þ�êQÝ ñ Þö]/:ï+émã_á�ì³â4ã_émé¬õ}áé_ãmæ�ò4ãmå4ëSá�ã_àaáé_Ý�Þ±êQâ4ÝSÝ��kè4ã_émã_ò0õàYãmè4æ ñ ï+émã_á�ì�øeãmêYâ4ï+è@ê!ßzåMì½â4ãmåMê!ïzð±á�ï+åMî+Ý�àYë+ãmå4ë4ó.øeâ@ã_é_ÝN�ùï?E�� ñ ïzé_ã_á�ì·â4ãmé_é¬õ}áémã_æ�ò4ãmå4ëî+Ý�àaìûå4ã_á�Ýé¬ì�Þ ñ ãmàQßzémÞ�êQïcø;ß�àYí4Þ$êQâ4ݹÝ��kè4ãmé_ã_ò@àYã_è@æfö �`â4ÝÅò�Ýâ4ßcî]ãmï+à�ãmÞ¢å4Ý�ßzàaémì�ãmí4ÝåMêYã_á�ß�éêQï³êQâ@Ý¢êYâ4ÝïzàYÝ�êYã_áßzé_é¬ì ñ àaïcî+Ýåfò.Ý�âvß�î]ã_ï+àeïzð �jï E �tõ K � ö

0

0.2

0.4

0.6

0.8

1

0 200000 400000 600000 800000 1e+06

Pr(

Hea

ds)

Iterations

WoLF-PHC: Pr(Heads)PHC: Pr(Heads)

ÉC���M¯ `z¯ ����£��k����£�«m�c�$��©M�¹�¢�����a©k���M�º¦4���k�]����£��¢�������hÀ��D�c��� �t��©k� ¦4�D�����Q­5«_�c�$�D�k� �c«J��©k�¦]�¬��­c�V��£:�c£?�e¦]���c§]��§]���¬���O­®¤]��£�������§0�M�����D�SµÄ©k�����±�������a�k���M�`µÄ����©�´ �����c�k¤�÷�D�.É.¶O´ ���²¯z°Ä©M��c��©M�V�J¦]����­c�V��» £±¦4�D�����Q­������cÂ+£�£��¬�¢��������¯

� C � " #=' ;%(@),#=. ;

�jÝ!ßzé_Þaï�Ý�ô@ßzæ¹ã_å4Ý�í bSè� Þ;ë+àaã_í@øJï+àaé_í�í4ïzæ¾ßzãmå�> � [E@JÞaâ4ïcøeåºã_åF� ãmë+è4àaÝ'�0ö:�`â4Ý¢ßzë+Ý�åMêQÞÞaêQßzàaê¢ãmå�ê�ø²ï5áï+àaå4ÝàaÞ$ßzå4íûßzàYÝ�êYàaì]ã_å@ë�êQï·àYÝßzáVâÑêQâ4Ý ë+ïMß�é Þ��kèvß�àYÝ ï+å�êQâ4ݳï ñ4ñ ïzÞYãmêYÝø;ß�é_é)ö:�`â4Ý ñ é_ßcìzÝàaÞ`âvß�î+Ý�êQâ4Ý!ðWïzè4à`áï+æ ñ ßzÞaÞeßzá�êYã_ï+å@Þ<>Oã7ö Ý�ömó$��ó��.ó!2eó4ßzå4í � @�ó0øeâ4ã_áVâßzàYÝJã_å�æÅï+Þ�ê áßzÞYÝ�Þ±í4Ý�êYÝàaæÅãmå4ã_Þ�êQã_á�ö�}ðvêQâ4ÝÄê�ø²ï ñ é\ß�ì+Ý�àYÞ±ß�êYêQÝ�æ ñ ê:êYï!æÅïcîzÝJêQïSêQâ4ÝJÞQßzæ¹ÝÞ��kèvßzàaÝzóGò�ïzêQâÑæ¹ïcî+ÝÞ!ðOß�ã_é)ö-�?ï5æÅß���Ý�êQâ4Ý ëMß�æÅÝ�ãmåMêQÝàaÝÞ�êQã_å@ëºßzå4í�ðWï+àYá�Ý�êQâ4Ý ñ é\ß�ì+Ý�àYÞêQï�ãmåkêYÝàYßzá�êó:ðWàYïzæ êYâ4Ý�ã_å@ãmêQã_ßzé�ÞaêQßzàaêYã_å4ë ñ ï+ÞaãmêQãmï+åùêYâ4Ý �SïzàaêQâ ß�á�êQãmï+å ãmÞ�è4å4á�ÝàaêQßzã_å=óßzå4í�ã¬ê®æÅïcî+Ý�Þ�êQâ@Ý ñ é_ßcìzÝà �Sï+à�êQâ½øeã¬êQâ ñ àYï+òvß�ò4ã_émãmê�ìL[0ö �0ö*bSÝ�å4áÝ�ó.êYâ4Ý�ï ñ êQã_æÅßzé ñ ß�êQâðWï+à�ÝßzáVâ ßzë+Ý�åMê³ã_Þ$êQï�æ¹ïcî+Ý�é_ß�êQÝ�àQßzémémì�Þ �]è4ßzàYÝ·ï+åùêQâ4ݾú4àYÞaê�æÅïcî+Ý�ßzå4íjêYâ4Ýå�æ¹ïcî+Ý�Sï+à�êQâ¹êQï�êYâ4ÝSëzïMßzé)óMò@è@ê;ã¬ðCò�ïzêQâ ñ é\ß�ì+Ý�àYÞ²æ¹ïcî+ÝSé\ß�êYÝàQß�é_émì�êQâ4Ý�å¾êQâ@Ý!ßzá�êQã_ïzå4ÞÄøeãmé_é4ðOßzãmé)ö�`â4ÝàaÝ ßzàYÝ�ê�øJï ��ß�ÞYâÑÝ��kè4ãmé_ã_ò@àYã\ß ðWï+àSêYâ4ã_Þ�ëMßzæ¹Ýzö-�`â4Ý�ì�ãmåMî+ï+é¬î+Ý�ï+å@Ý ñ é\ß�ì+Ý�à�êVß��]ãmå4ëêQâ4Ý5é\ß�êQÝàYßzé;æ¹ïcî+Ý5ßzå4í êQâ4ݺïzêYâ4Ýà êQà�ì0ãmå4ë�êQïûæÅïcîzÝ �®ï+àaêYâCö �0ïÑêQâ4Ý ñ é_ßcìzÝàaÞ¾æ�è4Þ�êáï]ï+àYí@ã_åvß�êYÝ!êQâ4Ý�ã_àeßzá�êQãmï+å4Þö

�jï E � ñ ï+é_ãmá�ì â@ã_é_é�õ�á�é_ã_æ�ò4ã_å4ë5ÞYè@ááÝ�ÞYÞ�ðWè4é_é¬ìÆá�ï+åMî+Ý�àYë+Ý�Þ¾êQïûï+å4ݺïzð!êYâ4ÝÞaÝfÝ��kè4ã_émã_ò4àaã\ß@ö� ã_ëzè4àYÝ � ÞYâ4ïcøeÞ!ß�åfÝ�ô4ß�æ ñ émÝ�êQàQß��aÝá�êYï+àaìºï�ð êQâ@Ý ñ é_ß�ì+ÝàaÞ��¸ÞaêYàQß�êYÝë+ãmÝÞeðWï+à`êQâ4Ý¢ãmå4ãmêYã\ßzé

� B

Page 32: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

0

0.2

0.4

0.6

0.8

1

0 0.2 0.4 0.6 0.8 1

Pr(

Pap

er)

Pr(Rock)

Player 1Player 2

� ���±´.�D�¬���Q­3�²������¶:�������S§]���M�

0

0.2

0.4

0.6

0.8

1

0 0.2 0.4 0.6 0.8 1

0

0.2

0.4

0.6

0.8

1

00.20.40.60.81

Pr(

Pap

er)

Pr(Rock)

Player 1Player 2

� §(�:÷�D�.ÉÑ´=�D�����Q­ �J�¬���h¶:�����¬�®§]�¬�M�ÉC���M¯ � ¯�����£��k����£G«m�c�:��©M�±���+��Â�¶W¦]��¦4�V��¶O£��V��£�£��c��£t�¢�����a�hÀ��D�c�¢� ������� �����Q���c������£:�c«4��©M���Oµ �®¦0����­�¶�V��£�»M¦@�D�¬���V����£ µÄ©k�����J���������]���M��µÄ����© � ����´ � �²¼M�c�k¤ � §(�:÷�D��É.¶O´ ��� ��©k���D�M�D©��D�M�e�¢�¬�������D������V�a�������D�k£V¯

ÞaêQß�êQÝ�øeâ@ã_é_Ý®é_ÝßzàYå@ã_å4ë�ïDîzÝà'BR[%[@ó [%[E[�Þ�êQÝ ñ Þö �å�êYâ4ã_ÞJÝ�ô@ßzæ ñ é_Ý®êQâ4Ý ñ é\ß�ì+Ý�àYÞ`á�ï+åMî+Ýàaë+ÝíêQï$êQâ4ÝSÝ��kè4ã_émã_ò4àaã_è4æ øeâ4ÝàaÝQ/±é\ß�ìzÝà BSæÅïcîzÝÞ�2�ßzÞ�ê;ßzå@íL/±é\ß�ì+Ý�à O æ¹ïcî+Ý�Þ �SïzàaêQâ¹ðWàYï+æêQâ4Ý¢ãmå4ãmêYã\ßzé�ÞaêQß�êQÝ�ö7�`â4ã_Þeã_Þ`Ý�î]ã_í4Ý�å4áÝ¢êQâvß�ê �ùï?E�� ñ ïzé_ã_á�ì¾â@ã_é_é�õ�á�é_ã_æ�ò4ã_å4ë >Oßzå4í5ã_å·êQâ4ãmÞá�ßzÞaÝ!è4å4æ¹ï]í4ãmúvÝ�íL/ b�� ßzÞ²øJÝémé�@±á�ßzå·émÝ�ßzàaå�ßzå·Ý��kè4ã_émã_ò4àaã_è4æ Ý�î+Ý�å5ãmå·ß�ë+Ý�å4ÝàYßzé¬õ}ÞYè4æëMßzæ¹Ý!øeãmêYâ5æ�è4émêYã ñ émÝ�Ý��kè4ãmé_ãmò4àYã_ß@ö

�?O

Page 33: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

S2 S1

G

0

0.2

0.4

0.6

0.8

1

0 0.2 0.4 0.6 0.8 1

0

0.2

0.4

0.6

0.8

1

00.20.40.60.81

Pr(

Nor

th)

Pr(

Nor

th)

Pr(East)

Pr(West)

Player 1Player 2

ÉC���M¯ � ¯!�²���¬¤Mµ:�c�a��¤��D�c���c¯�°�©M�¹¤]�c£�©M��¤Ñµ��c����£¢���V¦k����£������$��©k�Å�c�Q�����D�k£���©k���������Å�k�]�Q�V��¶���c���¸¯+°Ä©M�J����£��k����£�£�©M��µ ����� �}���Q���c�a����£±�c«��7µ:��¦0����­c�V��£�»z¦4�D���¬�V����£?«_�c����©M�`���k�����¬�c�]£��������eµJ©k������������a�k���M�!µÄ����©�÷�D�.É.¶O´ ���²¯� C�� �)�35358�#

�`â4ÝÅú4åvßzé�í4ï+æÅßzã_åÑãmÞ�ߺáïzæ ñ ß�àQß�êYãmî+Ý�émì�é_ßzàYëzÝ �Ýàaï�õ�Þaè4æ ÞYï]áá�Ýà�ë+ßzæÅݳãmåMêQàYï]í4è4á�ÝíòMì EGã¬êYêQæÅßzåa>KB^�E@¢êYï½í4Ý�æÅï+å@ÞaêQàYß�êQݾ÷fãmå4ã_æÅß�ôkõ���ö�� ãmë+è4àaÝ �5ÞYâ4ïcøeÞ³ßzåùÝ�ô@ßzæ ñ é_ݹïzðßzåÑã_å4ã¬êQã_ßzéGÞaêQß�êQݳãmå�êQâ4ãmÞ�ëMßzæ¹Ýzó¸øeâ4ÝàaÝ /±é_ßcìzÝà<,<âvßzÞ ñ ï+ÞaÞYÝÞaÞYãmï+åùï�ðÄêYâ4ݳòvßzémé)ö-�`â4Ýë+ïMßzé:ã_Þ!ðWï+à!êYâ4Ý ñ é_ßcìzÝàaÞ¢êYïºá�ßzàaàaì½êYâ4Ý òvßzémé ã_åMêYï�êQâ4Ý ë+ïMß�é ï+å�êQâ@ݳï ñ4ñ ï+ÞYã¬êQݳÞYãmí4ݳïzðêQâ4Ý�úvÝ�é_íCö7�`â@Ý�ßzá�êQãmï+å4Þ®ß�îzß�ã_é\ß�ò4é_Ý�ßzàYÝ�êQâ@Ý$ðWï+è@à`áï+æ ñ ßzÞaÞSí4ãmàYÝ�á�êQãmï+å4ÞeßzÞ`øJÝémé:ß�Þ®å@ïzêæÅïcî]ã_å@ë4ö �`â@Ý ñ é\ß�ì+Ý�àYÞ³ÞaÝé_Ý�á�ê¹ßzá�êQãmï+å4Þ�Þaã_æ�è@émêVß�å4Ýï+è@ÞYémìûò4è0ê�êQâ4Ý�ì�ßzàaÝ�Ý�ô0Ý�áè@êYÝí ã_åß¹àYßzå4í4ïzæ ï+àYí4Ý�àóvøeâ4ãmáVâ�ßzí4í@ÞSå4ïzå0õ�í4Ý�êQÝ�àYæ¹ã_å4ãmÞYæ êYï¹êYâ4ÝãmàSß�á�êQãmï+å4Þ�ö-}ð�ß ñ é\ß�ì+Ý�à�ß�ê�õêQÝ�æ ñ êYÞ²êQï�æÅïcî+ÝSêQï�êQâ@Ý!Þ��kèvßzàaÝ!ï]ááè ñ ã_Ý�í·òkì¾ãmêYÞ²ï ñ4ñ ï+å4Ý�åMê�ó0êYâ4Ý!Þ�êVß�êYã_ï+åvß�àaì ñ é\ß�ìzÝàë+Ý�êYÞ ñ ï+ÞaÞYÝ�ÞYÞYãmï+å½ï�ð:êYâ4Ý¢òvßzé_é7ó4ßzå@íºêYâ4Ý¢æÅïcîzÝ¢ðOß�ã_é_Þ�ö!<®å4é_ã��zÝ!êQâ@Ý$ëzàYã_í·øJï+àYémíºí4ï+æÅßzã_åCóêQâ4Ý ��ßzÞaâ�Ý��kè4ãmé_ã_ò@àYã_è@æ ðWï+àÄêYâ4ã_ÞJëMßzæ¹Ý�àaÝ��kè4ã_àaÝÞ`ß$æÅã�ô0Ýí ñ ï+é_ãmá�ìzö:�åÅðOßzá�êeß�åkì¹í4Ý�êQÝ�à�õæÅãmå4ã_Þ�êQãmá ñ ï+émã_á�ì >WêYâ4ÝàaÝ�ðWï+àaÝ�ßzåMìkêQâ4ãmå4ë¾émÝ�ßzàaå4Ýí½òkìfß¹ÞYã_å@ë+é_Ý�õ�ßzë+Ý�åMêSémÝ�ßzàaå4Ýà®ï+à�� � E@á�ßzåfßzé¬ø;ß�ì]Þeò.Ý¢í4Ý�ðWÝ�ß�êYÝí�>KB^��@�ö

�!è4à�Ý�ô ñ Ýàaã_æ¹ÝåMêVß�é²ÞYÝ�êQè ñ àaÝÞaÝæ�ò4émÝÞ�êYâvß�ê�è@ÞYÝí�òMì Etã¬êYêYæ¾ßzåÑðWï+à�ßzå ß ñ4ñ àaï ñ àaã\ß�êYÝáï+æ ñ ßzàaã_Þaï+åjøeãmêYâ�êQâ4Ý�àaÝ ñ ï+àaêYÝí àYÝ�ÞYè4é¬êQÞ�ðWï+à³÷fã_å4ãmæ¾ßDô]õ � >KB^� @�ö�2�ßzáVâ ñ é_ßcìzÝà�ø²ßzÞêQàYßzã_å4Ý�í�ðWï+à;ï+å@Ý!æÅãmé_émã_ï+å ÞaêYÝ ñ Þ�ö � ðqêYÝà²êYàQßzãmå4ã_å4ë@ó]êYâ4Ý ñ é\ß�ìzÝà�� Þ ñ ï+é_ãmá�ì ø;ß�Þ;ú@ô0Ýífßzå4íß�áVâvßzémé_Ýå@ë+ÝàJè4ÞYãmå4ë �Sõ�émÝ�ßzàaå4ã_å4ë$ø;ß�Þ²êQàYßzã_å4Ý�í·ßzëMß�ã_å4Þ�ê²êQâ@Ý ñ é\ß�ìzÝàö$�`â4ã_Þ;í@Ý�êQÝ�àYæ¹ã_å4Ý�ÞêQâ4ݺémÝ�ßzàaå4Ýí ñ ïzé_ã_á�ì-� Þ�øJï+àYÞ�êaõ}á�ßzÞaÝ ñ Ýà�ðWï+àYæÅßzå4á�ݺßzå4í ë+ãmîzÝÞ¹ßzå ã_í4ÝßÑï�ð�â4ïcø á�é_ï+ÞaÝ

�E�

Page 34: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

A

B

0

10

20

30

40

50

Minimax-Q WoLF WoLF(x2) PHC(L) PHC(W)

% G

ames

Won

ÉC���M¯ � ¯+Èz�z�V�Q�V�:�D�c���c¯�°�©k�±����£��k����£?£�©M��µû��©M��¦4�V���Q���������c�Ä�c«@�D�c����£?µ �D�¢���D�c���]£��?�e£�¦4���V��«m¶���V�c�¬��­º�����c���k��¤�µ:�c��£��}¶O�V�c£�� �c¦k¦4�D�M�����¢��«m���V�$�D�M� �¢�����¬���D�5£����V¦0£��c«Ä�����c�¬�k���M�M¯G°�©M�³�V���D£��V���©k�¬£�¦4�V���Q���������c����£Ä��� � � � ��©M���V���D£��V�²��©M�S���������M��¤ ¦4�D���¬�Q­���£Ä������©k�®��Çz�k������§]�����k�³¯ �t�����c�§]���a£±�����e£�©M��µÄ�³�c�k¤���©M�`�����¬������¡c�`�c��¤M�V���¬�M�S§z­�¦@�V��«m�c���$�c�k�Q�`��£±£���������£����¬�V�c����­$£����D�k��ª]�V�c���V¯

êQâ4Ý ñ é_ß�ì+Ýà`ø²ßzÞ`êQï êQâ4Ý¢Ý��]è@ã_é_ãmò4àYãmè4æ ñ ïzé_ã_á�ì+ó]øeâ4ã_áVâºø²ïzè4é_í ñ Ý�àaðWï+àaæ å4ï øJï+àYÞaÝ$êYâvßzåé_ï+Þaã_å4ë�â4ßzémð®ãmêYÞ³ëMßzæ¹ÝÞ�êYïûã¬êQÞ�áVâ4ßzé_émÝå4ë+Ý�àö <®å4é_ã��zÝ5÷fãmå4ã_æÅß�ôkõ���ó��jï E �tõC/ b�� ßzå4í/ b�� ë+Ýå4Ý�àQßzémémì ï+Þaáã_émé\ß�êYݽß�àYï+è4å@íäßzå4í êQâ@àYï+è4ëzâçêQâ4Ý�êQßzàYëzÝ�ê�Þaï+é_è0êQã_ïzå ßzå4í Þaï ß�êÞYï+æ¹Ý ñ ï+ã_åMêYÞ²ã_åÅêQã_æ¹Ý®æ¾ß�ìÅò.ÝSáé_ïzÞYÝ�êYï�êQâ4Ý�Ý��kè4ã_émã_ò4àaã_è4æ ò@è@êeß�ÞYâ@ï+àaêJêQã_æ¹Ý�é_ß�êQÝ�àJò�Ýî+Ý�àaì¢ðOßzàGðWàYï+æÁãmê�ö��å$ï+àaí4ÝàtêQïSßzáá�ï+è4åMê?ðWï+àGêQâ4ãmÞócêQàYßzã_å4ãmå4ë;ø²ßzÞ:á�ï+åMêQãmå]è@Ýí�ðWï+à?ßzå@ïzêQâ4Ý�àO �%[@ó [E[E[ºÞaêYÝ ñ Þ ß�å4íjÝ�îzß�é_èvß�êYÝí�ß�ðqêQÝà$Ý�îzÝà�ì �%[@ó [E[E[ºÞaêYÝ ñ Þ�öL�`â4ÝÅø²ï+àaÞaê ñ Ýà�ðWï+àYæ¹ã_å@ëñ ïzé_ã_á�ìÅø²ßzÞeêQâ4Ý�åfá�ï+å4Þaã_í4Ý�àYÝíºêQâ@Ý¢î�ßzémè4Ý�ïzð:êQâ4Ý ñ ï+é_ãmá�ì¹ðWï+à;êQâvß�êeé_Ý�ß�àYå4ãmå4ë³àYè4å=ö

� ã_ëzè4àYÝ=��Þaâ4ïcøeÞ¹êYâ4Ý ñ Ý�àYáÝ�åMêVßzë+ݺïzðSëMßzæ¹ÝÞ�øJï+å òMì êQâ4ݺí4ã��=Ý�àYÝ�åkê ñ é\ß�ì+Ý�àYÞ øeâ4Ýåñ é\ß�ì]ã_å@ë�êQâ4Ý�ã_à�áVâvßzémé_Ý�å4ë+ÝàaÞö �Q÷5ã_å4ãmæ¾ß�ôkõ �A ÅàYÝ ñ àYÝ�ÞYÝåMêYÞ³÷fãmå4ã_æÅß�ôkõ�� øeâ4ÝåÑêQàYßzã_å@ÝíßzëMßzãmå4Þaê�ãmêYÞYÝé¬ð0>WêYâ4Ý·àYÝ�ÞYè4é¬êQÞ�øJÝàYÝ�êQß��zÝ�å ðWàaï+æ >KB^�E@�ö @ � �ùï?E��L �àYÝ ñ àYÝ�ÞYÝ�åkêYÞ �ùï?E��ñ ïzé_ã_á�ìûâ4ã_émé¬õ�á�é_ãmæ�ò4ã_å@ë�êQàQß�ã_å4Ý�í ßzëMßzãmå4Þaê³ã¬êQÞaÝémð�ö � / b��'>2E@ ûßzå4í � / b �'> � @ ÑàaÝ ñ àaÝ�õÞYÝ�åkê ñ ï+émã_á�ìÑâ@ã_é_é�õ�á�é_ã_æ�ò4ã_å4ëÅøeãmêQâ � < � 3 ßzå4í � < ��� ó?àYÝ�Þ ñ Ýá�êYãmîzÝémìzöN� �ùï?E��?> O ô�@B àYÝ ñ àYÝ�ÞYÝåMêYÞ@�jï E � ñ ï+é_ãmá�ì³â4ãmé_é�õ�áémã_æ�ò@ã_å4ëeêQàYßzã_å4Ý�í¹øeã¬êQâ¹ê�øeã_áÝeêQâ@Ý®êYàQßzãmå4ã_å4ë >Wã)ö Ýzö¬ó+ê�ø²ïæÅãmé_émã_ï+å ÞaêYÝ ñ Þ+@�ö��`â4Ý ñ Ýà�ðWï+àYæÅßzå4á�Ý�ïzðtêQâ4Ý ñ ï+é_ãmáãmÝÞJøJÝàaÝ$ßcîzÝàYßzë+Ýí5ïcî+Ý�àeú@ðqê�ì¾êQàYßzã_å]õã_å4ë¹àYè@å4Þ�ßzå4í5êQâ4Ý�ÞaêQßzå4ívßzàaí�í4Ý�î0ã_ß�êQãmï+å4ÞSßzàYÝ$ÞYâ@ïDøeå�òMìºêQâ@Ý�é_ãmå4ÝÞ®ò�ÝÞYãmí4Ý¢êQâ4Ý�òvßzàYÞ�ö�`â4Ý$àYÝé_ß�êQã¬î+Ý!ïzàYí4Ý�àYã_å@ë¹òMì ñ Ýà�ðWï+àYæÅßzå4á�Ý�ã_Þ`ÞaêQß�êQãmÞaêYã_á�ß�é_émì¹Þaã_ë+å4ã¬úvá�ß�åkêö

�jï E �tõC/ b�� í4ï0Ý�Þ$îzÝà�ì�ø²Ý�é_é)ó ñ Ýà�ðWï+àYæ¹ã_å@ë·Ý��kè4ãmî�ßzémÝåMêQé¬ì�êQï½÷fãmå4ã_æÅß�ôkõ�� øeãmêYâûêYâ4Ý

� �

Page 35: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� °� � � ¼ � � ¼ ��� ��� ¼ ��� ¼ ���° ��� ¼ � � ¼ � � � � ¼ ��� ¼ � �

� °� � � ¼ ��� ¼ � � ��� ¼ � � ¼ � �° ��� ¼ ��� ¼ ��� � � ¼ � � ¼ ���

°=��§]��� -°�©k���V�Q¶O´?����­c�V� Ð �����a©k���M�!´=���k�k����£V¯+°�©k�¬£G�D�c���`©k�c£ ��©M���V�²¦]����­c�V��£:£��������Q�����M��������©M�V��� N�[DÎn�c��� [�U_g n ¯¸°�©M�!¦]��­c���4£®���³���c��©·¦]�¬��­c�V�®�����¢£�©M��µÄ�·�¬�Å��©k������§]���c¼4µÄ©M�V���!��©M��ª]��£��;¦]����­c�V�£��������Q��£:��©k�Ä����µe¼���©k�J£����Q�D�k¤�£��������Q��£ ��©M�²�Q�D���k�¢�¸¼��c�k¤$��©M�J��©]����¤¢£��������Q��£:��©k�J���V«_�?�c� �����D©������§]���c¯ÞQßzæ¹Ý¢ßzæ¹ï+è4åMêeïzð?êQàYßzã_å4ãmå4ë³ßzå@ífá�ï+åMêQã_åkè4Ý�Þ`êQï ã_æ ñ àYïcîzÝ¢øeã¬êQâºæ¹ï+àYÝ�êYàQßzãmå4ã_å@ë4ö�� �`â4ÝÝ�ô@ßzá�êÅÝ��=Ý�á�ê ïzðeêYâ4ݺßzí,�aè4Þ�êQæ¹ÝåMê á�ß�å ò�Ý·ÞYÝ�Ýå òMì�ãmêYÞ�ï+è@ê�õ ñ ÝàaðWïzàYæÅßzå4áÝÅïzð / b ��óè4ÞYãmå4ë5ÝãmêYâ4Ýà¢êQâ@ÝÅé_ßzàYë+Ý�à�ï+à¢ÞYæÅßzé_émÝà�émÝ�ßzàaå4ã_å4ëºàYß�êQÝ�ö �`â@ã_Þ¢ÞYâ4ïcøeÞ�êYâvß�ê¢êQâ@ÝÅÞaè4áá�ÝÞYÞïzð��ùï?E��jã_ÞJå4ïzê`Þaã_æ ñ émì í4è@Ý�êQï³áVâvß�å4ë+ã_å@ë�é_ÝßzàYå4ãmå4ë�àYß�êQÝ�Þó0ò4è@ê`àYß�êQâ4Ý�à²êQï�áVâvßzå4ë+ãmå4ëêQâ4Ý¢émÝ�ßzàaå4ã_å4ë³àYß�êQÝ$ß�ê`êYâ4Ý$ß ñ4ñ àaï ñ àaã\ß�êYÝ�êQãmæÅÝ!êYï¹Ý�å4áïzè4àQßzëzÝ$á�ï+åMî+Ý�àYë+Ý�å4áÝ�ö

� C � 4 �:# 858 "H9 .�%�1 8�# 6G%�&B3 �:'0+:9#9 8�+7+7'*8 !

�`â4Ý ñ àYÝ�î]ã_ï+è4Þ�í4ïzæ¾ßzãmå4Þ�ï+å@émì�ãmåMî+ï+é¬î+Ý;ê�øJï ñ é_ß�ì+ÝàaÞö?�ùÝ`âvß�î+ÝSßzé_Þaï�Ý�ô@ßzæ¹ã_å4Ý�íM�ùï?E��ã_åºß³æ�è4é¬êQã ñ é_Ý ñ é\ß�ì+Ý�à`æ¾ß�êQàYã�ô�ë+ßzæÅÝ�ó0êYâ4àYÝ�Ý�õ ñ é\ß�ì+Ý�à®æÅß�êYáVâ4ã_å4ë ñ Ýå@å4ã_Ý�Þ > � BS@�ö �å·êQâ4ãmÞëMßzæ¹ÝzótÝ�ß�áVâ�ïzð;êQâ@ݾêQâ4àaÝÝ ñ é\ß�ì+Ý�àYÞ�â4ßzÞ�ê�øJïÑßzá�êYã_ï+å@Þó�3 8�% ;�!�ß�å4í 4�%�'0. !�ö /±é_ßcìzÝà�BzóàYÝ�áÝã¬î+Ý�Þ³ß ñ ß�ìzï��çï�ð'B�ãmð²â4ã_Þ�ßzá�êQã_ïzåjæÅß�êQáVâ4Ý�ÞT/±é\ß�ìzÝà O ó?ï�êQâ4Ý�àaøeã_Þaݹõ+B+ö �0ã_æ¹ã_é_ßzàYé¬ì/±é\ß�ì+Ý�à O ãmÞ àYÝ�ø;ß�àYí�ðWï+à?æ¾ß�êQáVâ4ãmå4ëQ/±é\ß�ìzÝà � ó�ßzå4íT/�é_ß�ì+Ýà � ã_Þ:àYÝ�ø;ßzàaí4Ýí³ðWï+à?ÞYÝ�é_Ý�á�êQãmå4ëßzåùßzá�êYã_ï+åÑí4ã��=Ý�àYÝåMê¢ðWàYïzæ /±é\ß�ì+Ý�à B+ö�� ß�ò4é_Ý*6�ÞYâ4ïcøeÞ¢êQâ4ݹáïzæ ñ émÝ�êYݳÞYÝ�ê$ïzð ñ ß�ì+ï��.ÞêQï³êQâ@Ý ñ é\ß�ì+Ý�àYÞ�ö-�`â@ã_Þ`ëMßzæ¹Ý!âvß�ÞSß�Þaã_å4ëzé_ÝN��ß�ÞYâºÝ��kè4ãmé_ã_ò@àYã_è@æ á�ï+àYàaÝÞ ñ ï+å@í4ã_å4ë³êYï êYâ4Ýñ é\ß�ìzÝàYÞeàYßzå4í4ï+æ¹ã���ã_å4ë³Ý��kèvßzé_é¬ì�ò�Ý�ê�øJÝÝ�å½ò�ïzêQâfßzá�êYã_ï+å@Þö

� ã_ëzè4àYÝ 6`ÞYâ4ïcøeÞtêQâ4ÝÄàYÝ�ÞYè4é¬êQÞtïzð4ßzé_é�êQâ4àaÝÝ ñ é\ß�ì+Ý�àYÞ?è4ÞYãmå4ë �jï?E��?õ / b���ã_å¢êQâ4ãmÞGí4ï+æÅßzã_åCö�`â4ݺàYÝ�ÞYè4é¬êQÞ¹ßzàYÝ·Þaâ4ïcøeåÆðWï+à�ê�øJïûí4ã��.ÝàaÝåMê é_ÝßzàYå4ãmå4ë�àQß�êQÝ·àQß�êQã_ïzÞ�" � 3 � � � < O ßzå4í� 3 � ��� < � ö?�®ïzêQãmáÝ;êYâvß�ê�øeãmêYâ êYâ4Ýeé\ßzàaë+Ý;àYß�êQãmï �jï?E���áïzåkîzÝàaë+ÝÞÄêQï�êQâ4ÝeÝ��]è@ã_é_ãmò4àYãmè4æ�aè4Þaê�ßzÞeã_åºêQâ@Ý�ïzêYâ4Ýà®Ý�ô ñ Ýàaã_æ¹ÝåMêQÞ�ó�ò@è@êeøeãmêQâ½ß¹émïcø²Ý�à®àYß�êQãmï ãmê®í4ï]ÝÞ®å4ïzê®áï+åMîzÝàYëzÝzö�`â4ã_ÞJã_Þ�êQâ4Ý®úvàYÞ�ê;í4ïzæ¾ßzãmå¹øJÝ!âvß�îzÝ!Ý�ô@ßzæ¹ã_å4Ý�íÅøeâ4Ý�àYÝ�êYâ4Ý�àYß�êQãmï�ï�ðCêQâ4Ý®ê�ø²ï�é_Ý�ß�àYå4ãmå4ëàQß�êYÝÞ$ÞYÝ�Ýæ¹Þ�êQïfò.ݹã_æ ñ ï+àaêQßzåMê�êQï �ùï?E��²ö��`â4ãmÞ�ãmÞ�émã���Ýémì�í4è4Ý êQïfêYâ4Ý ðOßzá�ê$êQâvß�ê�ã¬êêVß���ÝÞ Ý�ô]êYàQß�êQãmæÅݾðWïzà�ï+å4Ý ñ é_ß�ì+Ýà�� Þ Þ�êQàQß�êQÝë�ì�áVâvßzå4ëzÝ�êQï ñ àYï ñ ßzëMß�êYݾêQâ@àYï+è4ëzâ êYâ4ÝÝ�ô]êQàYß ñ é\ß�ì+Ý�à�ò�Ý�ðWï+àaݺß��=Ý�á�êYã_å4ë½êYâ4Ý ñ é_ßcìzÝà�ï�ðSãmåMêQÝàaÝÞ�ê � Þ³ÞaêQàYß�êQÝ�ëzì+öL}ê ã_Þ�Þ�êQãmé_é�î+Ýà�ìã_åMêQÝ�àYÝ�ÞaêQãmå4ë�êQâ4ß�ê �ùï?E�� áï+åMî+Ý�àYë+Ý�Þ�ß�êeßzé_é�ÞYãmå4áÝ¢ß�å4ïzêQâ@Ýà`ÞYï ñ â4ã_Þ�êQãmá�ß�êYÝí�êQÝ�áVâ4å4ã��]è@ÝzóÞYæ¹ï0ï�êQâ·úvá�êYãmêYã_ï+è4Þ ñ é\ß�ì+ó4ðOß�ã_é_ÞÄêQï¹áï+åMîzÝàYëzÝ�ãmåºêYâ4ã_Þ`ë+ßzæÅÝ#> � BR@�ö� °Ä©M�J����£��k����£������`�M�c��¤k�������Q����­$�Q�D��¦]������§0���²¤]�M�J������©k�²�k£��²�c«=�!¤k� �4�V��������¤M���V��­��c«¸��©k��������a�k���M�Å�������c¯ Ð �¬�k���¢�Àz¶ � �k£���£!�c���QÀz¦4�D�M���������c��¤M���V��­fµÄ©]����©�¤M���Q�����c£���£!�����ºÇz�k����Âz��­«_�c�$�k£���µÄ����©f÷�D�.É.¶O´ ���²¯ &J�c��� ��©k�����D��¡c���Ñ���M�D�M�D©������c���]���M� Ð ���]���¢�Àz¶ � ��£�¦k����¡c������º�Q�D��¡c�V���c�¹���·��©k����Çz�k���¬��§k�����]� �c�k¤�µÄ���½©k�c��«²����£!�D�c����£�¡c�V�a£��k£�����£��a©k�c�������M�c�V��¯��`�M�����£��k����£�£�©M��µ ��©k����÷�D�.É �c��£��º£��V���¢£¢���º§4���¢��¡+���M�º�V���D£��V�$���º��©M�³��Çz�k������§]�����k��µJ����©���c���e�����c���k�¬�M�M¯

� �

Page 36: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

0

0.2

0.4

0.6

0.8

1

0 200000 400000 600000 800000 1e+06

Player 1: P(H)Player 2: P(H)Player 3: P(H)

Nash

� ��� � 3 � � � � �

0

0.2

0.4

0.6

0.8

1

0 20000 40000 60000 80000 100000

Player 1: P(H)Player 2: P(H)Player 3: P(H)

Nash

� §(� � 3 � � � � `ÉC���M¯ - ¯ ����£��]����£¢�c«;÷�D��É.¶O´ � � ���Ñ£�����«¬¶W¦0����­½«m�c����©M�¹��©k���V�Q¶W¦]����­c�V���¢�����a©k���M�f¦@���]�k����£�D�c���c¯ �:�c��©³�����k�Ä�Q�c������£�¦4�D�k¤]£t���!�D�M�²¦]����­c�V��» £ £����������V�c­$��¡c�V���������c¯ &Ä�c�����Q�;��©M�;¤k� �4�V��������Q�D��¡c�V���c���k�Q��¦k���c¦4�V��������£±¤k�V¦@���]¤k���M�S�D� ��©M�e�������a�k���M�!�������e�a�������$�k£���¤¸¯

� C � 9 8 ! � ./&�!�� 8�1?),+5;#�8�. ) "H9 .�%�1�`â4Ý ñ àaÝ�î]ã_ïzè4Þ!Ý�ô ñ Ýàaã_æ¹ÝåMêQÞSâvß�î+ݳò�ÝÝå½Ý�ô@ßzæ¹ã_å4ãmå4ëJ�ùï?E��?õC/ b �Áã_å½ÞaÝé¬ð\õ ñ é_ßcìzó¸ã)ö Ýzö¬óøeãmêYâ ß�é_é�êYâ4Ý ñ é\ß�ì+Ý�àYÞºè4Þaã_å4ë�êQâ@ÝûÞYßzæ¹ÝÑßzé_ë+ïzàYãmêYâ4æ5ö �²ï+àaï+é_é_ßzàaì O >*�0Ý�á�êYã_ï+å � ö\�4ö � @ë+ãmîzÝÞ®ß ÞYé_ã¬î+Ý�à®ï�ð:êYâ4Ýï+àaÝ�êYã_á�ß�éGÝ�î]ã_í4Ý�å4áÝ¢êQâ4ß�ê �jï?E���æÅßcì�é_Ý�ß�àYå·ø²Ý�é_é?ßzëMß�ã_å4Þ�êeïzêQâ4Ý�àé_ÝßzàYå4Ý�àYÞ�ö7�å5êYâ4ã_Þ`ÞaÝá�êYã_ï+åºøJÝ ñ àYÝÞaÝåMêSÞYï+æ¹Ý¢àYÝÞaè4émêYÞeÝ�ô@ßzæ¹ã_å4ãmå4ë�êQâ4ãmÞ`Ýæ ñ ã_àaã_áßzé_é¬ì+ö

� �

Page 37: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

� C � C�� 6G%�&(#='���" %%$I8

�`â4Ý�úvàYÞ�êeÝ�ô ñ ÝàYãmæÅÝ�åMê`Ý�ô@ßzæ¹ã_å4ãmå4ëD�ùï?E�� ã_å·ÞaãmêQè4ß�êQãmï+å4Þ;ï+è0êQÞYãmí4Ý!ïzð?ÞaÝémð\õ ñ é\ß�ìÅã_Þ²êYâ4ÝÞYã¬êQèvß�êYã_ï+åjí4ÝÞaáàYãmò.Ý�í�ã_å �²ï+àaï+é_é_ßzàaì O ö �ùÝ·Ý�ô@ßzæ¹ã_å4ݹêQâ4Ý·émÝ�ßzàaå4ã_å4ëfïzð �jï E �tõC/ b��ßzëMßzãmå4Þaêtè@å4æÅï]í4ã¬úvÝí / b��ùãmå¢àYï]á5�Mõ ñ ß ñ Ýà�õ�ÞYá�ã_ÞaÞYï+àaÞö�� ãmë+è4àYÝ �eÞYâ@ïDøeÞtêQâ@ÝÄêYàQß��aÝ�á�êQïzàYã_Ý�Þïzð`êQâ@Ý ñ é\ß�ìzÝàYÞ�öL�`â4Ý·á�ï+àYïzé_é\ß�àaì ñ àaÝí4ãmá�êYÝí�áïzåkîzÝàaë+Ýå4á�ÝzóÄßzå4íùêQâ4Ý ñ àYï]ïzðeëMß�î+ݾêYâ4Ýã_åMêQè@ãmêQãmï+å¾êYâvß�ê;êYâ4Ý�áï+åMîzÝàYëzÝå4á�Ý�àQß�êQÝ�øJï+è4émí5í@Ý ñ Ýå4í5ï+å·êQâ4Ý�àYß�êQãmï�ïzðtêQâ@Ý�é_Ý�ß�àYå4ãmå4ëàQß�êYÝÞ�ï�ðeò.ïzêYâ ñ é\ß�ìzÝàYÞ�öL�å êYâ4ã_Þ�Ý�ô ñ Ý�àYãmæÅÝ�åkêó:øJÝ·âvß�î+Ý·á�ï+åMî+Ýàaë+Ýå@áÝ·êQï½êYâ4ÝF�SßzÞYâÝ��kè4ãmé_ã_ò@àYã_è@æfókßzå@í�êQâ4Ý!á�ï+åMî+Ý�àYë+Ý�å4áÝ¢ã_Þ²ÞYé_ïcøJÝà²êYâvßzå�øeã¬êQâ¾ê�øJï �jï?E��jémÝ�ßzàaå4ÝàaÞ<>*�]ÝÝ� ã_ëzè4àYÝ'�F>WòF@ @;ß�ÞeêYâ4Ý$ßzåvßzé¬ì]ÞYã_Þ ñ àYÝí@ã_á�êYÝíCö

0

0.2

0.4

0.6

0.8

1

0 0.2 0.4 0.6 0.8 1

0

0.2

0.4

0.6

0.8

1

00.20.40.60.81

Pr(

Pap

er)

Pr(Rock)

WoLF-PHC PlayerPHC Player

ÉC���M¯ 4 ¯�����£��k����£C�c«@÷�D�.É.¶O´ ����¡c�V��£��k£t´ �������!���z��Â�¶W¦]��¦4�V��¶O£��V��£�£��c��£.�c¦@�D�¬���Q­®����� �����Q���c������£�c«C��©M�`�7µ:��¦]����­c�V�a£����³��¦k���c���c�O­z¦]���V�c�v���]��µÄ����©��D�M�®�$���������D�������V���������D�k£V¯

� C � C � �)�35358�#

�0ã_å@áÝ4EGãmêaêQæÅßzå� Þ¾ÞYï]áá�Ýà·ëMß�æÅÝ >WÞYÝ�Ý4� ã_ë+è@àYÝ �E@¾ã_ÞÅêYâ4Ý�æ¹ï+Þaê·á�ï+æ ñ é_Ý�ô ëMß�æÅݽøJÝâvß�î+ݺÝ�ô@ßzæ¹ã_å@Ýí�êQâ4ãmÞ�ðOßzà�ó ø²Ýºå4ïcø áï+å@ÞYã_í@Ýà³øeâ4Ý�êYâ4Ýà �ùï?E��'æÅãmë+âMê³áïzåkîzÝàaë+ݺã_åêQâ4ãmÞ·í4ï+æÅßzã_åäß�ëMßzã_å@Þaê·í4ã��=Ý�àYÝ�åkê5ï ñ@ñ ï+å@ÝåMêQÞ�ö �`â4Ýûú4àYÞaê5ï ñ@ñ ï+å@ÝåMê5ã_Þ·è4å4æ¹ï]í4ãmúvÝ�íñ ïzé_ã_á�ì�â4ãmé_é�õ�áémã_æ�ò@ã_å4ëSßzÞÄßzò�ïDîzÝzó]ßzå4í¹êQâ4ÝeÞaÝáïzå4í�ï ñ4ñ ï+å4Ý�åMê²ãmÞ �Sõ EtÝßzàYå@ã_å4ë4ö �SÝã¬êQâ4Ý�àï ñ4ñ ï+å4Ý�åkêYÞ!ßzàaÝ�á�ï+åMî+Ý�àYë+Ý�åkê!ã_å5ÞYÝé¬ð\õ ñ é_ß�ì+ó4ò4è0ê!ßzàaÝ�àYß�êQãmï+åvßzé7ö7�0ï@ó�ã¬ð ñ é_ß�ì·ã_Þ®ë+ï+ãmå4ë³êQïáï+åMîzÝàYëzÝzó@ã¬ê�æ�è4Þ�ê²ò�Ý®êYï�ß<��ß�ÞYâ¾Ý��kè4ã_émã_ò4àaã_è4æ5ö��`â4ÝSÝ�ô ñ ÝàYãmæÅÝ�åMêVßzévÞaÝ�êQè ñ ã_Þ�Ý�ô@ßzá�êQé¬ìßzÞ�ãmå �0Ý�á�êQãmï+å �0ö � ö �:àYßzã_å@ã_å4ë5ã_Þ ñ Ý�àaðWï+àaæÅÝ�íjðWï+à$ï+å4Ý�æ¹ã_émé_ã_ïzå�ÞaêYÝ ñ Þ�ó±ßzå4íjêYâ4Ýå êYâ4ÝàYÝ�ÞYè4é¬êQã_å@ë ñ ï+émã_á�ì�ã_Þ±ðWàaï �Ý�å¾ßzå@í¾ß�áVâvßzémé_Ý�å4ë+Ýà�ãmÞ�êQàQß�ã_å4Ý�í êYï$ú4å4í¹êYâvß�ê ñ ï+é_ãmá�ì-� Þ�øJï+àaÞaêá�ßzÞaÝ ñ Ýà�ðWï+àYæÅßzå4á�Ýzö � Þ¹ò�Ý�ðWï+àaÝzó±êQâ4Ý5áémï+ÞYÝ�à¹êYâ4Ý ñ ï+émã_á�ì ã_Þ êQïÑøeã_å@å4ã_å4ëÑâvß�émð!ï�ð!ãmêYÞëMßzæ¹ÝÞ;øeã¬êQâºãmêYÞ`áVâvßzé_émÝå4ëzÝàó0êQâ4Ý$áémï+ÞYÝ�à;êQâ4Ý ñ ï+é_ãmá�ìÅã_Þ;êQï êQâ@Ý$Ý��kè4ã_émã_ò4àaã_è4æ5ö

� ã_ëzè4àYÝ��·Þaâ4ïcøeÞ$êYâ4Ý àYÝÞaè4émêYÞö � Þ�ò.Ý�ðWï+àYݳøJݹÞaâ4ïcø êYâ4Ý ñ Ý�àYáÝ�åMêVßzë+Ý ïzðJëMßzæ¹ÝÞ!øJï+åßzëMßzãmå4Þaê�ãmêQÞ áVâvßzé_émÝå4ëzÝà�ß�Þ�ß!æÅÝßzÞYè4àaÝ`ïzð¸êQâ4Ý`í@ã_ÞaêQßzå4á�Ý;ðWàYï+æ êQâ4Ý`Ý��]è@ã_é_ãmò4àYãmè4æ ñ ï+é_ãmá�ì+ö

� 6

Page 38: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

�`â4Ý�àaÝÞYè@émêQÞ�ßzàaݾÞYâ@ïDøeå ðWïzà�ò�ïzêQâùï+å4ÝÅæÅãmé_é_ãmï+å�Þ�êQÝ ñ Þ�ïzð;êYàQßzãmå4ã_å4ë5ßzå@íjê�øeã_á�ÝÅêQâ4ß�êßzæ¹ï+è4åMê�óMò�ïzêQâ øeâ4Ý�å¾êQàYßzã_å4ãmå4ë¢ßzëMß�ã_å4Þ�êJè@å4æÅï]í4ã¬úvÝí#/ b�� ßzå@í¾ßzë+ßzã_å4Þ�ê ��õ}é_ÝßzàYå4ãmå4ë4ö�`â4ÝàaÝ ßzàYÝ�ê�ø²ïºã_æ ñ ï+àaêQßzåMê�ï+ò@ÞYÝà�î�ß�êQãmï+å4Þö �`â4Ý�úvàaÞaê¢ã_Þ®êQâvß�ê!êQâ4ݳémÝ�ßzàaå4Ýí ñ ï+émã_á�ìfãmÞáï+æ ñ ßzàYß�êQã¬î+Ý�émìºáémï+ÞYÝ$êQï¾êYâ4Ý�Ý��kè4ã_émã_ò4àaã_è4æ >qêQâ4Ý�àYÝ�ÞYè4é¬ê!ïzðA/ b��'ãmå½ÞYÝ�émð\õ ñ é\ß�ìºã_Þ�ßzé_ÞaïÞYâ4ïcøeå½ðWïzàSá�ï+æ ñ ßzàYãmÞYï+åCö @ �0Ý�áï+å4í=ó.ã¬ê�ß ñ4ñ ÝßzàYÞ®êQâvß�êSæ¹ï+àaÝ$êYàQßzãmå4ã_å4ë³í@ï0Ý�Þ�æ¹ïDîzÝ$êYâ4Ýñ ïzé_ã_á�ì¾á�é_ï+ÞaÝà`êQï³êYâ4Ý¢Ý��kè4ã_émã_ò4àaã_è4æ ë+ã¬î0ãmå4ë³Ý�î]ãmí4Ýå4á�Ý¢ïzð�á�ï+åMî+Ýàaë+Ýå@áÝzö

0

10

20

30

40

50

PHC-PHC WoLF-Q WoLF-Q(x2)

WoLF-PHC WoLF-PHC(x2)

% G

ames

Won

ÉC���M¯ � ¯+Èz�z�V�Q�V�:�D�c���c¯�°�©k�±����£��k����£?£�©M��µû��©M��¦4�V���Q���������c�Ä�c«@�D�c����£?µ �D�¢���D�c���]£��?�e£�¦4���V��«m¶���V�c�¬��­!�����c���M��¤$µ:�c��£��}¶O�V�c£��;�c¦k¦4�D�M����� �M�D�+¶O��¤k���������V�c�]�c¦k¦4�D�M�����:��«_���V� �D�k�J�¢���¬�����D��£����V¦]£:�c«�����c�¬�k���M�M¯z°�©M�J�V���D£��V����©k��£:¦@�V�a�Q���������c�e��£:��� � � � ��©M�`�V���D£��V����©M�;���������M��¤�¦4�D�����Q­¢��£:���S��©k���Çz�k������§k�����k� ¯ &J�c�����Q�;��©M�;�c¤k¤M��¤�����¦k����¡c���������:µÄ����©����c���Ä�����c���]���M�M¯�´ � �û����£�����«m¶W¦]����­¢��£���]�V���k¤M��¤�«_�c�Ä�Q�D��¦]�����¬£��D��¦]�M��¦4�D£���£�¯��ð:á�ï+è4àaÞYÝ¢å4ï+å4Ý�ï�ð?êYâ4ÝÞaÝ¢àYÝÞaè4émêYÞ ñ àYïcîzÝÞeáï+åMîzÝàYëzÝå4á�Ý�Ýã¬êQâ4Ý�à;ã_å·ÞaãmêYèvß�êQãmï+å4ÞJïzð?ÞYÝé¬ð\õñ é\ß�ì�ï+àGïzêQâ@ÝàaøeãmÞYÝ�ö��`â4Ý�àYÝÞaè4émêYÞtí4ïeë+ãmîzݱÝ�î]ã_í4Ý�å4áÝ�êQâ4ß�ê?ß;îzß�àYã\ß�ò4é_Ý�émÝ�ßzàaå4ã_å@ë;àQß�êYÝÄßzå4íêQâ4Ý �ùï?E�� ñ àaã_å4á�ã ñ émݱá�ßzå�Ýå4á�ï+è4àYßzë+ÝÄáï+åMî+Ý�àYë+Ý�å4áݲã_å�ßzå�ïzêYâ4Ýà�øeã_ÞaÝJå4ïzå0õ�á�ï+åMî+Ýàaë+ÝåMêàQß�êYã_ï+å4ßzé.émÝ�ßzàaå4ã_å@ë³ßzé_ëzï+àYã¬êQâ4æ5ö:� ñ Ýáã¬úvá�ß�é_émìzó:�ùï?E��?õ / b � âvßzÞ`ò�ÝÝåºÞaâ4ïcøeåfãmå·ß�î�ß�õàYãmÝ�ê�ìfïzð�í4ï+æÅßzã_å@Þ®êYï�Ý��.Ýá�êQãmîzÝé¬ì�áïzåkîzÝàaë+Ý�êQï�ò�ÝÞ�êaõ}àYÝÞ ñ ïzå4ÞYÝ ñ ï+é_ãmáãmÝÞó¸í4Ý�Þ ñ ã¬êQÝ�êYâ4Ýøeã_émí¾å4ï+å]õ�ÞaêQß�êQãmï+åvßzàaãmê�ì³ï�ðtïzêQâ4Ý�à²émÝ�ßzàaå4ã_å4ë�ßzë+Ý�åMêQÞ;è4Þaã_å4ë�ÞQßzæ¹ÝSïzà²í4ã��=Ý�àYÝåMê²é_Ý�ß�àYå4ãmå4ëßzé_ëzï+àYã¬êQâ4æ¹Þö

� � ×�Ô:Ú �OÙ��ÛO×�Ô

÷fè4é¬êQã\ß�ë+ÝåMêté_ÝßzàYå@ã_å4ë`ãmÞtß ñ ïcø²Ý�àaðWè4é]ßzå4í$å4Ý�Ýí4Ý�í�êQÝ�áVâ4å4ã��]è@ÝJðWï+àGò4è@ã_é_í@ã_å4ë;æ�è4émêYã\ßzë+Ý�åMêÞaì]ÞaêYÝæ¹Þö!�`â@Ý�ðWàQßzæ¹Ý�øJï+à��Ñïzð®Þ�êQï]áVâvßzÞaêYã_á�ë+ßzæÅÝ�Þ�â4Ý�é ñ Þ ñ àYïcî]ã_í4Ý�ß½æÅï]í4Ý�éÄðWï+à$êQâ4ãmÞé_ÝßzàYå4ãmå4ë ñ àYïzò4é_Ý�æ ßzå4íÆßzé_Þaïùãmé_émè4áãmívß�êQÝ�Þ�êQâ@Ý5í@ã��¹áè4é¬êQãmÝÞ ïzð�ß�êYêQÝ�æ ñ êQã_å@ë�êQïûé_Ý�ß�àYåßzå�ÝÞaÞYÝ�åkêYã\ßzémémìfæÅïcî]ã_å@ë¾êVßzàaë+Ý�êö /±àYÝ�î0ãmï+è4Þ!êYÝáVâ4å4ã��kè4ÝÞ¢í4ï·å4ï�ê¢ßzí4Ý��]è4ß�êQÝ�émì�ß�í4í4àYÝ�ÞYÞêQâ4Ý�ÞYÝ®í4ã��¹á�è4émêYã_ÝÞ�ó+ßzå@íÅâvß�îzÝSï+å@Ý®ï�ð.ê�øJï�Þaâ4ï+à�êQáïzæÅãmå4ë+Þ�"�êQâ4Ý�ì ßzàYÝeå4ï�ê�àQß�êYã_ï+åvß�é)ó�ã)ö Ýzö¬ó

� �

Page 39: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

í4ï³å4ïzê`ßzémø²ß�ì0Þ ñ é\ß�ìÅò.Ý�Þaêaõ}àYÝ�Þ ñ ï+å4ÞYÝ�Þ`øeâ4Ýå·êQâ@Ý�ì�Ý�ô0ã_Þaêó@ï+àJêQâ4Ý�ì�í4ï�å@ïzê`å4Ý�áÝÞaÞQßzàaã_é¬ìáï+åMîzÝàYëzÝ�ß�êSßzémé)ö

�jݺá�ï+åMêQàYãmò4è@êYݺêYâ4ݺáï+å@áÝ ñ êÅï�ð�émÝ�ßzàaå4ã_å4ë�øeã¬êQâ ß�îzß�àYã\ß�ò4é_ÝÅé_Ý�ß�àYå4ãmå4ë�àQß�êYÝ·êQâvß�ê ãmÞÞYâ4ïcøeå�êYï¾ò�Ý�ßzò@é_Ý¢êQï¾ïcîzÝàYá�ï+æ¹Ý�êQâ4Ý�ÞYÝ�ÞYâ4ï+à�êQá�ï+æÅãmå4ë+Þ�ö��ùÝ�ðWè@àaêQâ@Ýà�á�ï+åMêQàaã_ò4è@êYÝ$êYâ4Ý�jï E � ñ àYãmå4áã ñ é_Ý;êYï�í4Ý�úvå4Ý!â@ïDøçêQï�î�ßzà�ì êQâ4Ý®é_ÝßzàYå4ãmå4ë$àQß�êYÝzö�,JìÅßzémêYÝàaã_å4ë�êQâ@Ý�é_ÝßzàYå]õã_å4ë¾àQß�êYÝ ßzáá�ï+àYí4ãmå4ë¾êYï�êQâ4Ý �ùï?E�� ñ àaã_å4á�ã ñ émÝzó.ß�àQß�êYã_ï+åvß�é ßzémë+ï+àaãmêQâ@æ á�ßzåÑò�Ý�æ¾ß�í4Ýáï+åMîzÝàYëzÝåMê�ö:�`â4ã_Þ�ø²ßzÞ ñ àYïcîzÝå ðWï+à�ß�àYÝÞ�êQàaã_á�êYÝí¹áé_ßzÞYÞ�ïzð.ãmêYÝàQß�êQÝí æÅß�êQàaã¬ô�ëMßzæ¹ÝÞ�ó+òMìæÅï]í4ã¬ðqì0ãmå4ë ë+àQß�í4ã_Ý�åkê�ßzÞaáÝåMê!øeã¬êQâ½ßJ�jï E � é_ÝßzàYå4ãmå4ë¹àQß�êYÝzö�}ê!áßzå�ßzémÞYï¹ò.Ý�è4ÞYÝ�í�êQïæÅï]í4ã¬ðqìÅæ¹ï+àaÝ�ë+Ýå4Ý�àQßzé=àQß�êYã_ï+åvß�é=é_ÝßzàYå@ÝàYÞ�ö$�ùÝ ñ àYÝ�ÞYÝåMêYÝí�ß �ùï?E���æÅï]í4ãmú4á�ß�êYã_ï+å¹êQïñ ïzé_ã_á�ì�â4ãmé_é¬õ}áémã_æ�ò4ãmå4ë4ó¸ß5àQß�êYã_ï+åvß�é±ÞaêQï]áVâvßzÞ�êQãmá¾ëMßzæ¹Ý é_ÝßzàYå4ãmå4ë5ßzé_ëzï+àYã¬êQâ4æ5ö �ùÝÅêYâ4Ýåí4Ýæ¹ï+å4Þ�êQàYß�êQÝ�í�êQâ4ãmÞ�ßzémë+ï+àYã¬êQâ4æÁÝæ ñ ã_àaã_á�ß�é_émì!ï+å³ß�åkè4æ�ò�Ýà ïzð¸ÞYãmå4ë+é_Ý�õ�Þ�êVß�êYÝzó�æ�è4émêYã ñ émÝ�õÞaêQß�êQÝ�ó7�Ýàaï�õ�Þaè4æ5óvë+Ýå4Ý�àQßzé�õ�Þaè4æfó]ê�ø²ï�õ ñ é_ßcìzÝà®ßzå4í5æ�è4é¬êQã�õ ñ é_ßcìzÝàJÞaêQï]áVâvßzÞ�êQãmá$ë+ßzæÅÝ�Þö

� � �kÖS�0Ô?ÚE���

Z B _ Ü$ö�,JÝé_émæ¾ß�åCó -�ì]åvß�æÅãmá</�àaï+ë+àYßzæÅæ¹ã_å@ë4ó /±àaã_å4á�Ý�êQïzå <®å4ãmîzÝàaÞYãmê�ì:/±àaÝÞYÞ�ó B � � 60öZ O _ Ü$ö � ö bSïcø;ß�àYíCó -�ì]åvßzæ¹ã_á</±àYï+ëzàQßzæ¹æÅãmå4ë³ßzå@í�÷½ßzà �zïcî /±àYï]áÝÞaÞYÝ�Þó-�`â4ݳ÷ �

/�àaÝÞaÞó B � �E[0öZ � _ E�ö�/?ö �¢ßzÝ�é_ò4émã_å4ë@ók÷ùö:E±ö EGã¬êYêQæÅßzåCó � ö?� ö@÷5ï0ï+àaÝzó]ÜeÝã_å0ðWï+àYá�Ýæ¹ÝåMê²émÝ�ßzàaå4ã_å@ë " �

ÞYè4à�î+Ý�ìzó �zï+è4àYå4ßzéGïzð � àaêYãmúvá�ã\ßzé �åMêQÝémé_ãmë+Ýå4á�ݢܮÝ�ÞYÝßzàYáVâ �4>CB � � �E@ O%� 6�O � �0ö

Z � _ Ü$ö��.ö��0è@êaêQï+å=ó � ö�K³ö�,;ßzà�êQï4ó�ÜeÝã_å0ðWï+àYá�Ýæ¹ÝåMê!EGÝßzàYå4ãmå4ë4ó��`â4Ý;÷ � /±àYÝÞaÞó]B � � �@öZ �S_ ÷ùö �@ö �!Þaò.ï+àaå4Ýzó � ö�Üeè4ò4ãmå4ÞaêYÝãmåCó � �²ïzè4àYÞaÝJãmå K¢ßzæ¹Ý �`â@Ýï+à�ì+ó,�`â4Ý;÷ � /�àaÝÞaÞó

B � �%�4öZ ��_ K ö���øJÝåCó-K¢ßzæ¹ÝA�`â4Ýïzàaì+ó � á�ßzí4Ý�æÅãmá</±àYÝÞaÞó B � �E�0öZ 6S_ �@ö;�²ö;��ßzÞaâCó �zà�ömó)2 �]è@ã_é_ãmò4àYãmè4æ ñ ï+ã_åMêQÞSã_å �¸õ ñ ÝàaÞYï+å�ëMß�æÅÝ�Þó / � � � � ��>CB � �%[E@

�������0ó@àYÝ ñ àYãmåMêQÝí5ã_å�> � � @�ö

Z ��_ �³ö E±ö5÷½ß�å4ëMßzÞYßzàYã_ßzåCó b$ö �]êQï+å@Ýzó �;ø²ï�õ ñ ÝàYÞaï+å å@ï+å �Ý�àYï�õ}ÞYè4æ ë+ßzæÅÝ�Þ¨ßzå4í�]è4ßzí4àQß�êQã_á ñ àaï+ë+àQß�æÅæ¹ã_å4ë@ó �zï+è4àYå4ßzéSï�ð$÷½ß�êYâ4ÝæÅß�êQãmá�ßzé � åvßzémì]Þaã_Þ�ß�å4í � ñ@ñ é_ã�õá�ß�êYã_ï+å4Þ �:>CB � �%��@ � ���

�� �E�0ö

Z ��_ E�ö �.öL�0âvß ñ é_Ý�ì+ó �]êQï]áVâvßzÞ�êQãmá¾ëMßzæ¹ÝÞ�ó/ � � � � �W>KB�� � � @�BR[ � ��BEBR[E[0óCàYÝ ñ àYãmåkêYÝí

ã_å > � ��@�öZ B^[ _ � ö�÷ùö�� ã_å �¸ó 2 �kè4ã_émã_ò4àaã_è4æÁã_å�ßSÞaêYï0áVâ4ßzÞaêYã_á²å]õ ñ ÝàYÞaï+å�ë+ßzæÅÝ�ó �zï+è4àYå4ßzékïzð-�0á�ã_Ýå@áÝ

ã_å bSãmàYï+Þaâ4ã_æÅß <Så@ãmî+Ý�àYÞaãmê�ì+ó-�]ÝàYãmÝÞ � õ O � >CB � �%� @ � ��� � ö

Z B%B`_ �³ö �@ö )�àaã_Ý��Ýzó �kêQï]áVâvßzÞaêYã_á K¢ßzæÅÝ�Þ·øeãmêQâ � ãmå4ãmêYÝ4�]êVß�êQÝûßzå4í � á�êYã_ï+å � ñ ßzáÝ�Þóå4ï4ö �E� ó � �� �?àQßzá�êQÞó B�� � 60ö

Z B O _ �@ö��:ã_é\ß�àó �³ö )�àYã_Ý��Ý�ó��²ï+æ ñ Ý�êQã¬êQã¬î+ÝJ÷½ßzà �zïcîT-!Ý�áãmÞYã_ïzåT/±àYï]áÝ�ÞYÞYÝ�Þó � ñ àYãmå4ë+Ýà�)�Ýà�õé\ßzë4ó$�SÝ�ø��Äï+à ��ó B�� � 60ö

Z B � _�÷ùöE,²ïcøeémã_å4ë4ó�÷ùö+÷ùö )�Ý�é_ï+Þaï4ó � å ßzåvß�émì]ÞYãmÞ ïzð¸Þ�êQï]áVâvßzÞaêYã_áJëMßzæ¹ÝJêQâ@Ýï+à�ì�ðWï+à:æ�è4é�õêQã\ß�ë+ÝåMê�àaÝã_å0ðWï+àYá�Ýæ¹ÝåMê�é_ÝßzàYå@ã_å4ë4ó-�?ÝáVâ4å4ãmá�ßzé±àaÝ ñ ï+àaê �`÷ <eõ � �MõC[E[�õ+B � �0ó �²ï+æ³õñ è@êQÝ�à �0áãmÝå4á�Ý0-!Ý ñ ßzà�êQæ¹ÝåMê�ó �;ß�àYå4Ý�ë+ã_Ý�÷fÝ�é_é_ïzå <Så4ã¬î+ÝàaÞYã¬ê�ì�> O [E[%[ @�ö

Z B`�%_�÷ùö-E�ö-EGãmêaêQæÅßzåCó¸÷fßzà���ïDî5ëMß�æÅÝ�Þ�ßzÞSß³ðWàQßzæ¹Ý�øJï+à���ðWïzàSæ�è@émêQã�õ�ßzëzÝåMê`àYÝ�ã_å@ðWïzàYáÝ�õ

� �

Page 40: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

æÅÝ�åkê�é_ÝßzàYå4ãmå4ë4óvãmå"5/�àaï0á�ÝÝ�í4ã_å4ëzÞ!ïzð�êYâ4Ý 2±é_Ý�î+ÝåMêYâG�åkêYÝàaåvß�êQãmï+åvßzé �²ï+å@ðWÝ�àYÝ�å4áÝï+åf÷½ßzáVâ4ãmå4Ý<EtÝßzàYå@ã_å4ë4óv÷fï+àYë+ßzå �$ß�è@ðWæ¾ß�åCó B � � �4ó ñ4ñ ö BR� 6 � B � � öZ BR��_ �@ö b®èCó²÷ùöV/?ö �ùÝémé_æÅßzåCó�÷5è4émêYã\ßzë+Ý�åMê¾àaÝã_å0ðWï+àYá�Ýæ¹ÝåMê¾émÝ�ßzàaå4ã_å@ë " �`â4ÝïzàYÝ�êYã_áßzéðWàQßzæ¹Ý�øJï+à��jßzå4í ßzå ßzémë+ï+àYã¬êQâ4æ5ó?ã_å" /�àaï0á�ÝÝ�í4ã_å4ëzÞ¹ï�ðSêYâ4Ý � ãmðqêYÝÝ�åkêYâ �åkêYÝàaåvß�õêQã_ïzåvßzé �²ïzå@ðWÝàaÝå4á�ݲï+å�÷½ßzáVâ@ã_å4Ý EGÝ�ßzàaå4ã_å4ë@óD÷fï+àaëMßzå �$ß�è@ðWæ¾ß�åCó��@ß�åD�vàQß�å4áãmÞYáï@óB � � �@ó ñ4ñ ö O � O � O �%[0öZ B�� _ �@ö:Üeï+ò4ãmå4ÞYïzåCó � åjã¬êQÝ�àQß�êYãmî+Ý æ¹Ý�êYâ4ï0íùïzð`Þaï+émî]ã_å@ë½ßºëMßzæ¹Ýzó � å@åvßzé_Þ$ïzð®÷fß�êQâ4Ý�õæ¾ß�êYã_á�ÞO� � >KB �E�]BS@ O � �

�� [ B+ó0àYÝ ñ àYãmåkêYÝí5ã_å > � ��@�ö

Z B;6�_N� ö�<®êYâ4Ýà�ó�÷ûö )�Ýémï+ÞYï4ó � í@î+Ý�àYÞYßzàYã_ßzé³àYÝ�ã_å@ðWï+àaáÝ�æÅÝ�åkêÑémÝ�ßzàaå4ã_å@ë4ó �?ÝáVâCö¢àaÝ ñ ö¬ó�;ßzàYå4Ý�ë+ã_Ý$÷5Ýé_émï+å <Så@ãmî+Ý�àYÞaãmê�ì+ó¸è4å ñ è4ò4émã_ÞYâ@Ýí�>KB � � 6E@�öZ B�� _ ��ö �²é\ß�è4Þó ��ö?,²ï+è0êQã_émã_Ý�àó �`â4Ý�í@ì+ßzå4æ¹ã_á�Þ¾ïzð$àYÝ�ã_å@ðWïzàYáÝ�æÅÝ�åMê�é_ÝßzàYå@ã_å4ëùã_å á�ï�õ

ï ñ Ý�àQß�êYãmîzݳæ�è4émêYã\ßzëzÝåMê!Þ�ì0Þ�êQÝ�æÅÞ�ó?ãmå" /±àaï0á�ÝÝí@ã_å4ë+Þ¢ïzð�êYâ4Ý � ãmðqêYÝÝåMêYâ �Sß�êQãmï+åvßzé�²ï+å@ðWÝàaÝå4á�Ýeï+å � à�êQãmú4áã\ß�é �åMêQÝ�é_émã_ë+Ý�å4áÝ�ó � � � 2/±àYÝÞaÞó0÷fÝ�å4é_ï</:ßzà��¸ó � � ó�B � � �@ö

Z B�� _�÷ùö5,²ïcøeé_ã_å@ë4ó �²ï+åMî+Ý�àYë+Ý�å4áÝ ñ àaï+ò4émÝæ¹ÞSïzð�ë+Ýå4Ý�àQßzé�õ�Þaè4æ æ�è4é¬êQã\ß�ë+ÝåMêeàYÝ�ã_å@ðWïzàYáÝ�õæÅÝ�åkê!é_Ý�ß�àYå4ãmå4ë4ó=ãmå" /±àaï0á�ÝÝí@ã_å4ë+Þ�ï�ðJêYâ4Ý �0Ý�îzÝåMêQÝ�ÝåMêQâ �åkêYÝàaåvß�êQãmï+åvßzé��²ï+å@ðWÝà�õÝå4á�Ý�ï+å5÷½ßzáVâ4ãmå4ÝNEGÝ�ßzàaå4ã_å@ë4ó4÷5ï+àYëMß�å �$ß�è@ðWæ¾ß�åCó �kêVßzå@ðWïzàYí <Så@ãmî+Ý�àYÞaãmê�ì+ó O [E[E[@óñ4ñ ö�� � � �%�4öZ O [ _ ��ö �@ö ��ö b�ö �jß�ê �kã_å@Þó EGÝ�ßzàaå4ã_å@ë¢ðWàaï+æ í@Ýé\ß�ìzÝí¾àaÝ�ø²ßzàYí@Þó�/±âCö -�ö+êYâ4ÝÞaã_Þ�ó �¢ãmå4ë � Þ�²ï+é_émÝë+Ý�ó �;ßzæ�ò@àYã_í@ë+Ýzó/<� >KB�� � � @�ö

Z O B`_�÷ùö?� ß�åCó0÷fè4émêYã¬õ�ßzë+ÝåMê�àaÝã_å0ðWï+àYá�Ýæ¹ÝåMêÄé_Ý�ß�àYå4ãmå4ë " �å4í@Ý ñ Ýå4í4Ý�åMê;î]Þökáï]ï ñ ÝàQß�êQãmîzÝßzë+ÝåMêYÞózãmå" /�àaï0á�ÝÝ�í4ã_å4ëzÞ�ïzðvêQâ@Ý �:Ý�åMêQâ �åMêQÝ�àYåvß�êYã_ï+å4ßzé �²ïzå@ðWÝàaÝå4á�Ý®ïzå ÷½ßzáVâ4ãmå4ÝEtÝßzàYå@ã_å4ë4ó � æ¹â4ÝàaÞaêó�÷ � ó B � � � ó ñ4ñ ö �E� [ � �%� 60öZ O�O _D�.ö�]ÝåCót÷ûö��0Ý���ß�àQßzåCó �@ö�bSßzé_Ý�ó;EGÝßzàYå4ãmå4ë¾êYï�áï]ï+àYí@ã_åvß�êYÝ�øeã¬êQâ4ï+è0ê!ÞYâ4ßzàYãmå4ë�ã_å]õðWï+àYæÅß�êQãmï+åCó5B � �%�@ö

Z O � _<��ö �+ßzß�� �zï+é_ß@ó �.ö�/:ö$�0ã_å4ëzâCó]÷ùö:Vö �zïzàYívßzå=ó@ÜeÝãmå@ðWï+àYá�Ýæ¹ÝåMêÄé_ÝßzàYå4ãmå4ë�ßzé_ë+ïzàYãmêYâ4æðWï+à ñ ß�àaêQã_ßzé_é¬ì!ï+ò@ÞYÝà�î�ßzò4é_ݲæ¾ßzà �zïcî�í4Ýá�ã_ÞYãmï+å ñ àaï+ò4émÝæ¹Þó�ã_å" � í@î�ßzå@áÝÞ ã_å �®Ýè4àYßzé�å@ðWï+àYæÅß�êYã_ï+åL/±àaï0á�ÝÞYÞaã_å4ëI�]ì]ÞaêYÝæ¹Þ7�0ó B � �%�@ö

Z O �%_ E�ö���ö�,;ßzã_àaíCó � ö!� ö�÷fï]ï+àYÝ�ó K�àQßzí4ãmÝåMê í4Ý�ÞYáÝ�åMêÅðWï+à³ëzÝå4Ý�àQßzé`àaÝã_å0ðWï+àYá�Ýæ¹ÝåMêé_Ý�ß�àYå4ãmå4ë4ócã_å;" � í@î�ßzå4á�ÝÞ±ã_åD�SÝ�è4àQßzé �å@ðWï+àaæ¾ß�êYã_ï+å /±àYï]áÝ�ÞYÞaã_å4ë<�]ì]Þ�êQÝæ¹Þ BEBzó+÷ �/�àaÝÞaÞó B � � �0ö

Z O ��_D�.ö �]ã_å4ë+â=ó+÷ùö ��Ý�ßzàaå4Þó �³öz÷½ßzå4Þaï+è4à�ó ��ß�ÞYâ³áïzåkîzÝàaë+Ýå4á�Ýeïzðvë+àYßzí4ã_Ý�åMê�í@ì]åvßzæ¹ã_á�Þã_åçëzÝå4Ý�àQßzé�õ�ÞYè@æ ë+ßzæÅÝ�Þó�ã_å;"V/±àYï]áÝ�Ýí4ãmå4ë+ÞÅïzð�êQâ4Ý �0ã¬ô]êYÝÝåMêYâ �²ï+å@ðWÝàaÝå4á�Ý�ï+å<Så4á�ÝàaêQßzã_åMê�ìûã_å � à�êQãmú4áã\ß�é �åkêYÝémé_ã_ëzÝå4á�Ýzó?÷fï+àaëMßzå3�¢ßzè0ðWæ¾ßzå=ó O [E[E[@ó ñ4ñ ö � � B �� ���@ö

Z O � _ b�ö¸ÜeÝã_å@âvßzàYí=óF-!ã��.ÝàYÝ�åMêQã\ß�é 2 �]è4ß�êQãmï+å4Þ�"��vï+è@å4ívß�êYã_ï+å4Þeß�å4í � ñ4ñ é_ãmá�ß�êYã_ï+å@Þóv÷5á�õK¢àYßcø bSãmé_é �:Ý�ô0êó B � � 60ö

Z O 6�_ �@ö$� ö �jÝ�ã_ò4è@é_é)ó 2�î+ï+émè@êQãmï+åvßzà�ì K¢ßzæÅÝ �`â4Ýï+à�ì+ó��`â4Ý�÷ � /±àaÝÞYÞ�ó B � � �0öZ O � _ � ö�,²émè4æ5ó ��öF,²è4àaáVâCó �!å0õ�émã_å4Ý!émÝ�ßzàaå4ã_å@ë ßzå4í·êQâ4Ý¢æ¹Ý�êYàYã_áßzé=êQßzÞ���Þ�ì]ÞaêQÝ�æ ñ àYïzò0õ

é_Ýæ5ó?ã_å" �:Ý�åMêQâ � å4åkèvßzé �²ï+å@ðWÝàaÝå4á�ݺï+å �²ï+æ ñ è@êVß�êQã_ïzåvßzé EtÝßzàYå@ã_å4ëG�`â4Ý�ï+àaìzó��ßzÞaâkî]ãmé_é_Ý�ó$� �$ó B � � 60ö

Z O � _D�.ö �0ã_å4ëzâCó ��ö �+ß+ß�� ��ï+é\ß@óJ÷ùö E±ö@EGã¬êYêQæÅßzåCó ��ö@� ��Ý ñ ÝÞaî �ßzàaã)ó �²ï+åMî+Ý�àYë+Ý�å4áÝÑàYÝ�õÞYè4é¬êQÞ:ðWïzà:Þaã_å4ë+émÝ�õ}ÞaêQÝ ñ ï+å0õ ñ ïzé_ã_á�ì�àYÝ�ã_å@ðWïzàYáÝ�æÅÝ�åMêaõ�émÝ�ßzàaå4ã_å@ë�ßzémë+ï+àaãmêQâ@æÅÞ�óD÷½ßzáVâ4ãmå4ÝEtÝßzàYå@ã_å4ë·ö

Z � [ _ �@ö bSè=ó EGÝ�ßzàaå4ã_å4ë�ãmå�í@ì]åvßzæ¹ã_á�å@ï+å4áï]ï ñ ÝàYß�êQã¬î+Ý�æ�è@émêQã_ßzë+Ý�åkê�Þaì]ÞaêYÝæ¹Þó�/±âCö -�öêQâ4Ý�ÞYã_Þ�ó 2±é_Ý�á�êYàYã_áßzé 2�å@ë+ã_å4Ý�Ýàaã_å4ë�ß�å4í �²ï+æ ñ è@êQÝ�à �0á�ã_Ý�å4áÝ�ó <Så4ã¬î+Ý�àYÞYã¬ê�ì�ïzð.÷5ã_áVâ4ã�õ

� [

Page 41: Carnegie Mellon School of Computer Sciencemmv/papers/02aij-mike.pdf · Carnegie Mellon School of Computer Science

ëMßzåCó � å4å � àYò�ï+à�ó¸÷ '>CB � � �E@�öZ � B`_0-�ö��vè4í4Ý�åkò.Ý�àYë4ó -�ö��³ö EGÝ�î]ã_å@Ýzó��`â@Ý �`â4Ýï+à�ì³ïzð-EGÝ�ß�àYå4ãmå4ë�ã_åMK¢ßzæ¹ÝÞ�ó��`â4Ý®÷ �

/�àaÝÞaÞó B � � �0öZ � O _�÷ùö ,²ïcøeémã_å4ë4ó ÷ùö )�Ýé_ïzÞYï4ó:ÜSß�êQã_ïzåvßzéJßzå4í�áïzåkîzÝàaë+ÝåMê¹é_ÝßzàYå4ãmå4ë½ãmå ÞaêYï0áVâ4ßzÞaêYã_á

ëMßzæ¹ÝÞózã_å" /±àaï0á�ÝÝí@ã_å4ë+ÞÄïzð�êQâ4Ý �0Ý�î+Ý�åkêYÝÝ�åkêYâF�åMêQÝàaåvß�êYã_ï+åvß�é �zï+ã_åMê �²ï+å@ðWÝ�àYÝ�å4áÝï+å � àaêYãmúvá�ã\ßzé �åMêQÝémé_ãmë+Ýå4á�Ýzó��]Ý�ß�êaêQé_Ý�ó$� � ó O [E[ B+ó0êQï � ñ4ñ Ý�ß�àö

Z �%� _�÷ùöV,JïDøeémã_å4ë@óÄ÷ùö )�Ý�é_ï+Þaï4ó )ÄßzàYã_ßzò4émÝ5émÝ�ßzàaå4ã_å@ëùàYß�êQݽßzå4íçêYâ4ݽá�ï+åMî+Ýàaë+Ýå@áÝ�ïzðë+àQßzí@ã_ÝåMêeí@ì]åvß�æÅãmáÞó@ã_å"�/±àaï0á�ÝÝí@ã_å4ë+Þeïzð?êQâ@Ý�2±ãmë+âMêQÝÝ�åMêQâ �åMêYÝàYå4ß�êQãmï+åvßzé �²ïzå0õðWÝàYÝ�å4áÝ¢ï+å½÷½ßzáVâ@ã_å4Ý<EGÝ�ßzàaå4ã_å@ë4ó$�äã_émé_ã_ßzæÅÞ �²ï+émé_ÝëzÝzó O [E[ B+ó@êYï � ñ4ñ Ý�ßzà�ö

Z � �%_ b�ö � ö ��è4â4å > 2±íCö @�ó �²é\ß�ÞYÞYãmáÞ�ã_åIK¢ßzæÅÝ �`â@Ýï+à�ì+ó�/±àYã_å@áÝ�êYï+å<Så4ã¬î+ÝàaÞYã¬ê�ì#/�àaÝÞaÞóB � � 60ö

��B


Recommended