Improving the Asymmetric TSP by Considering Graph Structure

Recent works on cost based relaxations have improved Constraint Programming (CP) models for the Traveling Salesman Problem (TSP). We provide a short survey over solving asymmetric TSP with CP. Then, we suggest new implied propagators based on general graph properties. We experimentally show that such implied propagators bring robustness to pathological instances and highlight the fact that graph structure can significantly improve search heuristics behavior. Finally, we show that our approach outperforms current state of the art results.Comment: Technical repor

Optimally Efficient Prefix Search and Multicast in Structured P2P Networks

Searching in P2P networks is fundamental to all overlay networks. P2P networks based on Distributed Hash Tables (DHT) are optimized for single key lookups, whereas unstructured networks offer more complex queries at the cost of increased traffic and uncertain success rates. Our Distributed Tree Construction (DTC) approach enables structured P2P networks to perform prefix search, range queries, and multicast in an optimal way. It achieves this by creating a spanning tree over the peers in the search area, using only information available locally on each peer. Because DTC creates a spanning tree, it can query all the peers in the search area with a minimal number of messages. Furthermore, we show that the tree depth has the same upper bound as a regular DHT lookup which in turn guarantees fast and responsive runtime behavior. By placing objects with a region quadtree, we can perform a prefix search or a range query in a freely selectable area of the DHT. Our DTC algorithm is DHT-agnostic and works with most existing DHTs. We evaluate the performance of DTC over several DHTs by comparing the performance to existing application-level multicast solutions, we show that DTC sends 30-250% fewer messages than common solutions

Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms; (ii) A comparison of the algorithms in extensive physics-based simulations; (iii) A validation of our findings through real-robot experiments.Comment: 8 pages, 8 figures, submitted to IROS 201

A Superstabilizing log⁡(n)\log(n)-Approximation Algorithm for Dynamic Steiner Trees

In this paper we design and prove correct a fully dynamic distributed algorithm for maintaining an approximate Steiner tree that connects via a minimum-weight spanning tree a subset of nodes of a network (referred as Steiner members or Steiner group) . Steiner trees are good candidates to efficiently implement communication primitives such as publish/subscribe or multicast, essential building blocks for the new emergent networks (e.g. P2P, sensor or adhoc networks). The cost of the solution returned by our algorithm is at most $\log |S|$ times the cost of an optimal solution, where $S$ is the group of members. Our algorithm improves over existing solutions in several ways. First, it tolerates the dynamism of both the group members and the network. Next, our algorithm is self-stabilizing, that is, it copes with nodes memory corruption. Last but not least, our algorithm is \emph{superstabilizing}. That is, while converging to a correct configuration (i.e., a Steiner tree) after a modification of the network, it keeps offering the Steiner tree service during the stabilization time to all members that have not been affected by this modification