Solving Set Constraint Satisfaction Problems using ROBDDs

In this paper we present a new approach to modeling finite set domain constraint problems using Reduced Ordered Binary Decision Diagrams (ROBDDs). We show that it is possible to construct an efficient set domain propagator which compactly represents many set domains and set constraints using ROBDDs. We demonstrate that the ROBDD-based approach provides unprecedented flexibility in modeling constraint satisfaction problems, leading to performance improvements. We also show that the ROBDD-based modeling approach can be extended to the modeling of integer and multiset constraint problems in a straightforward manner. Since domain propagation is not always practical, we also show how to incorporate less strict consistency notions into the ROBDD framework, such as set bounds, cardinality bounds and lexicographic bounds consistency. Finally, we present experimental results that demonstrate the ROBDD-based solver performs better than various more conventional constraint solvers on several standard set constraint problems

Conjunctions of Among Constraints

Many existing global constraints can be encoded as a conjunction of among constraints. An among constraint holds if the number of the variables in its scope whose value belongs to a prespecified set, which we call its range, is within some given bounds. It is known that domain filtering algorithms can benefit from reasoning about the interaction of among constraints so that values can be filtered out taking into consideration several among constraints simultaneously. The present pa- per embarks into a systematic investigation on the circumstances under which it is possible to obtain efficient and complete domain filtering algorithms for conjunctions of among constraints. We start by observing that restrictions on both the scope and the range of the among constraints are necessary to obtain meaningful results. Then, we derive a domain flow-based filtering algorithm and present several applications. In particular, it is shown that the algorithm unifies and generalizes several previous existing results.Comment: 15 pages plus appendi

Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

Guarantees and Limits of Preprocessing in Constraint Satisfaction and Reasoning

We present a first theoretical analysis of the power of polynomial-time preprocessing for important combinatorial problems from various areas in AI. We consider problems from Constraint Satisfaction, Global Constraints, Satisfiability, Nonmonotonic and Bayesian Reasoning under structural restrictions. All these problems involve two tasks: (i) identifying the structure in the input as required by the restriction, and (ii) using the identified structure to solve the reasoning task efficiently. We show that for most of the considered problems, task (i) admits a polynomial-time preprocessing to a problem kernel whose size is polynomial in a structural problem parameter of the input, in contrast to task (ii) which does not admit such a reduction to a problem kernel of polynomial size, subject to a complexity theoretic assumption. As a notable exception we show that the consistency problem for the AtMost-NValue constraint admits a polynomial kernel consisting of a quadratic number of variables and domain values. Our results provide a firm worst-case guarantees and theoretical boundaries for the performance of polynomial-time preprocessing algorithms for the considered problems.Comment: arXiv admin note: substantial text overlap with arXiv:1104.2541, arXiv:1104.556

Inference with Constrained Hidden Markov Models in PRISM

A Hidden Markov Model (HMM) is a common statistical model which is widely used for analysis of biological sequence data and other sequential phenomena. In the present paper we show how HMMs can be extended with side-constraints and present constraint solving techniques for efficient inference. Defining HMMs with side-constraints in Constraint Logic Programming have advantages in terms of more compact expression and pruning opportunities during inference. We present a PRISM-based framework for extending HMMs with side-constraints and show how well-known constraints such as cardinality and all different are integrated. We experimentally validate our approach on the biologically motivated problem of global pairwise alignment

Solving finite-domain linear constraints in presence of the alldifferent\texttt{alldifferent}

In this paper, we investigate the possibility of improvement of the widely-used filtering algorithm for the linear constraints in constraint satisfaction problems in the presence of the alldifferent constraints. In many cases, the fact that the variables in a linear constraint are also constrained by some alldifferent constraints may help us to calculate stronger bounds of the variables, leading to a stronger constraint propagation. We propose an improved filtering algorithm that targets such cases. We provide a detailed description of the proposed algorithm and prove its correctness. We evaluate the approach on five different problems that involve combinations of the linear and the alldifferent constraints. We also compare our algorithm to other relevant approaches. The experimental results show a great potential of the proposed improvement.Comment: 28 pages, 2 figure

Translation-based Constraint Answer Set Solving

We solve constraint satisfaction problems through translation to answer set programming (ASP). Our reformulations have the property that unit-propagation in the ASP solver achieves well defined local consistency properties like arc, bound and range consistency. Experiments demonstrate the computational value of this approach.Comment: Self-archived version for IJCAI'11 Best Paper Track submissio

Symmetry Breaking Using Value Precedence

We present a comprehensive study of the use of value precedence constraints to break value symmetry. We first give a simple encoding of value precedence into ternary constraints that is both efficient and effective at breaking symmetry. We then extend value precedence to deal with a number of generalizations like wreath value and partial interchangeability. We also show that value precedence is closely related to lexicographical ordering. Finally, we consider the interaction between value precedence and symmetry breaking constraints for variable symmetries.Comment: 17th European Conference on Artificial Intelligenc