[1] Masaryk Univ, Fac Informat, Bot 68a, Brno 60200, Czech Republic
[2] Univ West Bohemia, Inst Theoret Comp Sci CE ITI, Dept Math, Univ 8, Plzen 30614, Czech Republic
[3] Univ West Bohemia, European Ctr Excellence, NTIS, Univ 8, Plzen 30614, Czech Republic
[4] Univ Warwick, DIMAP, Math Inst, Coventry CV4 7AL, W Midlands, England
[5] Univ Warwick, Dept Comp Sci, Coventry CV4 7AL, W Midlands, England
[6] Charles Univ Prague, Fac Math & Phys, Comp Sci Inst, Malostranske Namesti 25, Prague 11800, Czech Republic
[7] Charles Univ Prague, Fac Math & Phys, Dept Appl Math, Malostranske Namesti 25, Prague 11800, Czech Republic