Experimental evaluation of preprocessing algorithms for constraint satisfaction problems

This paper presents an experimental evaluation of two orthogonal schemes for preprocessing constraint satisfaction problems (CSPs). The first of these schemes involves a class of local consistency techniques that includes directional arc consistency, directional path consistency, and adaptive consistency. The other scheme concerns the prearrangement of variables in a linear order to facilitate an efficient search. In the first series of experiments, we evaluated the effect of each of the local consistency techniques on backtracking and its common enhancement, backjumping. Surprizingly, although adaptive consistency has the best worst-case complexity bounds, we have found that it exhibits the worst performance, unless the constraint graph was very sparse. Directional arc consistency (followed by either backjumping or backtracking) and backjumping (without any pre-processing) outperformed all other techniques; moreover, the former dominated the latter in computationally intensive situations. The second series of experiments suggests that maximum cardinality and minimum width arc the best pre-ordering (i.e., static ordering) strategies, while dynamic search rearrangement is superior to all the preorderings studied

Expected performance of m-solution backtracking

This paper derives upper bounds on the expected number of search tree nodes visited during an m-solution backtracking search, a search which terminates after some preselected number m problem solutions are found. The search behavior is assumed to have a general probabilistic structure. The results are stated in terms of node expansion and contraction. A visited search tree node is said to be expanding if the mean number of its children visited by the search exceeds 1 and is contracting otherwise. It is shown that if every node expands, or if every node contracts, then the number of search tree nodes visited by a search has an upper bound which is linear in the depth of the tree, in the mean number of children a node has, and in the number of solutions sought. Also derived are bounds linear in the depth of the tree in some situations where an upper portion of the tree contracts (expands), while the lower portion expands (contracts). While previous analyses of 1-solution backtracking have concluded that the expected performance is always linear in the tree depth, the model allows superlinear expected performance

GRASP: A New Search Algorithm for Satisfiability

This paper introduces GRASP (Generic search Algorithm J3r the Satisfiabilily Problem), an integrated algorithmic J3amework 30r SAT that unifies several previously proposed searchpruning techniques and jcilitates identification of additional ones. GRASP is premised on the inevitability of conflicts during search and its most distinguishingjature is the augmentation of basic backtracking search with a powerful conflict analysis procedure. Analyzing conflicts to determine their causes enables GRASP to backtrack non-chronologically to earlier levels in the search tree, potentially pruning large portions of the search space. In addition, by 'ecording" the causes of conflicts, GRASP can recognize and preempt the occurrence of similar conflicts later on in the search. Einally, straighrward bookkeeping of the causali y chains leading up to conflicts a/lows GRASP to identij) assignments that are necessary jr a solution to be found. Experimental results obtained jom a large number of benchmarks, including many J3om the field of test pattern generation, indicate that application of the proposed conflict analysis techniques to SAT algorithms can be extremely ejctive jr a large number of representative classes of SAT instances

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

An Overview of Backtrack Search Satisfiability Algorithms

Propositional Satisfiability (SAT) is often used as the underlying model for a significan

Efficient data structures for backtrack search SAT solvers

The implementation of efficient Propositional Satisfiability (SAT) solvers entails the utilization of highly efficient data structures, as illustrated by most of the recent state-of-the-art SAT solvers. However, it is in general hard to compare existing data structures, since different solvers are often characterized by fairly different algorithmic organizations and techniques, and by different search strategies and heuristics. This paper aims the evaluation of data structures for backtrack search SAT solvers, under a common unbiased SAT framework. In addition, advantages and drawbacks of each existing data structure are identified. Finally, new data structures are proposed, that are competitive with the most efficient data structures currently available, and that may be preferable for the next generation SAT solvers