Distributed splitting of constraint satisfaction problems

Constraint propagation aims to reduce a constraint satisfaction problem into an equivalent but simpler one. However, constraint propagation must be interleaved with a splitting mechanism in order to compose a complete solver. In~cite{monfroy:sac2000 a framework for constraint propagation based on a control-driven coordination model was presented. In this paper we extend this framework in order to integrate a distributed splitting mechanism. This technique has three main advantages: 1),in a single distributed and generic framework, propagation and splitting can be interleaved in order to realize complete distributed solvers, 2), by changing only one agent, we can perform different kinds of search, and 3), splitting of variables can be dynamically triggered before the fixed point of a propagation is reached

Scalable Parallel Numerical Constraint Solver Using Global Load Balancing

We present a scalable parallel solver for numerical constraint satisfaction problems (NCSPs). Our parallelization scheme consists of homogeneous worker solvers, each of which runs on an available core and communicates with others via the global load balancing (GLB) method. The parallel solver is implemented with X10 that provides an implementation of GLB as a library. In experiments, several NCSPs from the literature were solved and attained up to 516-fold speedup using 600 cores of the TSUBAME2.5 supercomputer.Comment: To be presented at X10'15 Worksho

Scalable Parallel Numerical CSP Solver

We present a parallel solver for numerical constraint satisfaction problems (NCSPs) that can scale on a number of cores. Our proposed method runs worker solvers on the available cores and simultaneously the workers cooperate for the search space distribution and balancing. In the experiments, we attained up to 119-fold speedup using 256 cores of a parallel computer.Comment: The final publication is available at Springe

Solution space structure of random constraint satisfaction problems with growing domains

In this paper we study the solution space structure of model RB, a standard prototype of Constraint Satisfaction Problem (CSPs) with growing domains. Using rigorous the first and the second moment method, we show that in the solvable phase close to the satisfiability transition, solutions are clustered into exponential number of well-separated clusters, with each cluster contains sub-exponential number of solutions. As a consequence, the system has a clustering (dynamical) transition but no condensation transition. This picture of phase diagram is different from other classic random CSPs with fixed domain size, such as random K-Satisfiability (K-SAT) and graph coloring problems, where condensation transition exists and is distinct from satisfiability transition. Our result verifies the non-rigorous results obtained using cavity method from spin glass theory, and sheds light on the structures of solution spaces of problems with a large number of states.Comment: 8 pages, 1 figure

Branch-and-Prune Search Strategies for Numerical Constraint Solving

When solving numerical constraints such as nonlinear equations and inequalities, solvers often exploit pruning techniques, which remove redundant value combinations from the domains of variables, at pruning steps. To find the complete solution set, most of these solvers alternate the pruning steps with branching steps, which split each problem into subproblems. This forms the so-called branch-and-prune framework, well known among the approaches for solving numerical constraints. The basic branch-and-prune search strategy that uses domain bisections in place of the branching steps is called the bisection search. In general, the bisection search works well in case (i) the solutions are isolated, but it can be improved further in case (ii) there are continuums of solutions (this often occurs when inequalities are involved). In this paper, we propose a new branch-and-prune search strategy along with several variants, which not only allow yielding better branching decisions in the latter case, but also work as well as the bisection search does in the former case. These new search algorithms enable us to employ various pruning techniques in the construction of inner and outer approximations of the solution set. Our experiments show that these algorithms speed up the solving process often by one order of magnitude or more when solving problems with continuums of solutions, while keeping the same performance as the bisection search when the solutions are isolated.Comment: 43 pages, 11 figure

From Uncertainty Data to Robust Policies for Temporal Logic Planning

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving