Abstract: | This document presents work done by the author at the Department of Artificial Intelligence under grant from Commission of the European Communities. It is organized in four parts. Part 1 is introductory: it describes the problem studied and gives an example. Part 2 describes the solution we developed in detail. Part 3 is a selection of experimental results. Part 4 discussed the work presented, reviews briefly some related work and summarizes the results we have obtained in this work. There are three appendices, giving details which would have been rather cumbersome if inserted in the main text.
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