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

On the Reification of Global Constraints

We introduce a simple idea for deriving reified global constraints in a systematic way. It is based on the observation that most global constraints can be reformulated as a conjunction of pure functional dependency constraints together with a constraint that can be easily reified. We first show how the core constraints of the Global Constraint Catalogue can be reified and we then identify several reification categories that apply to at least 82% of the constraints in the Global Constraint Catalogue

Guaranteed Minimum-Rank Solutions of Linear Matrix Equations via Nuclear Norm Minimization

The affine rank minimization problem consists of finding a matrix of minimum rank that satisfies a given system of linear equality constraints. Such problems have appeared in the literature of a diverse set of fields including system identification and control, Euclidean embedding, and collaborative filtering. Although specific instances can often be solved with specialized algorithms, the general affine rank minimization problem is NP-hard. In this paper, we show that if a certain restricted isometry property holds for the linear transformation defining the constraints, the minimum rank solution can be recovered by solving a convex optimization problem, namely the minimization of the nuclear norm over the given affine space. We present several random ensembles of equations where the restricted isometry property holds with overwhelming probability. The techniques used in our analysis have strong parallels in the compressed sensing framework. We discuss how affine rank minimization generalizes this pre-existing concept and outline a dictionary relating concepts from cardinality minimization to those of rank minimization

A track-before-detect labelled multi-Bernoulli particle filter with label switching

This paper presents a multitarget tracking particle filter (PF) for general track-before-detect measurement models. The PF is presented in the random finite set framework and uses a labelled multi-Bernoulli approximation. We also present a label switching improvement algorithm based on Markov chain Monte Carlo that is expected to increase filter performance if targets get in close proximity for a sufficiently long time. The PF is tested in two challenging numerical examples.Comment: Accepted for publication in IEEE Transactions on Aerospace and Electronic System

A hybrid constraint programming and semidefinite programming approach for the stable set problem

This work presents a hybrid approach to solve the maximum stable set problem, using constraint and semidefinite programming. The approach consists of two steps: subproblem generation and subproblem solution. First we rank the variable domain values, based on the solution of a semidefinite relaxation. Using this ranking, we generate the most promising subproblems first, by exploring a search tree using a limited discrepancy strategy. Then the subproblems are being solved using a constraint programming solver. To strengthen the semidefinite relaxation, we propose to infer additional constraints from the discrepancy structure. Computational results show that the semidefinite relaxation is very informative, since solutions of good quality are found in the first subproblems, or optimality is proven immediately.Comment: 14 page

LQG Control and Sensing Co-Design

We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where the sensing design is selected among a finite set of available sensors, where each sensor is associated with a different cost (e.g., power consumption). We consider two dual problem instances: sensing-constrained LQG control, where one maximizes control performance subject to a sensor cost budget, and minimum-sensing LQG control, where one minimizes sensor cost subject to performance constraints. We prove no polynomial time algorithm guarantees across all problem instances a constant approximation factor from the optimal. Nonetheless, we present the first polynomial time algorithms with per-instance suboptimality guarantees. To this end, we leverage a separation principle, that partially decouples the design of sensing and control. Then, we frame LQG co-design as the optimization of approximately supermodular set functions; we develop novel algorithms to solve the problems; and we prove original results on the performance of the algorithms, and establish connections between their suboptimality and control-theoretic quantities. We conclude the paper by discussing two applications, namely, sensing-constrained formation control and resource-constrained robot navigation.Comment: Accepted to IEEE TAC. Includes contributions to submodular function optimization literature, and extends conference paper arXiv:1709.0882