The vision of Ambient Intelligence is based on the ubiquity of information technology, the presence of computation, communication, and sensorial capabilities in our everyday appliances and environments. It is now a significant challenge to let ambient intelligence effortlessly emerge from the devices that surround the user in his environment. Future ambient intelligent infrastructures (e.g., Smart Environments) require software technologies that enable ad-hoc ensembles of devices to spontaneously form a coherent group of cooperating components. This is specifically a challenge, if the...