The Traveling Salesman Problem

This paper presents a self-contained introduction into algorithmic and computational aspects of the traveling salesman problem and of related problems, along with their theoretical prerequisites as seen from the point of view of an operations researcher who wants to solve practical problem instances. Extensive computational results are reported on most of the algorithms described. Optimal solutions are reported for instances with sizes up to several thousand nodes as well as heuristic solutions with provably very high quality for larger instances

Mathematical Modelling and Methods for Load Balancing and Coordination of Multi-Robot Stations

The automotive industry is moving from mass production towards an individualized production, individualizing parts aims to improve product quality and to reduce costs and material waste. This thesis concerns aspects of load balancing and coordination of multi-robot stations in the automotive manufacturing industry, considering efficient algorithms required by an individualized production. The goal of the load balancing problem is to improve the equipment utilization. Several approaches for solving the load balancing problem are suggested along with details on mathematical tools and subroutines employed.Our contributions to the solution of the load balancing problem are fourfold. First, to circumvent robot coordination we construct disjoint robot programs, which require no coordination schemes, are flexible, admit competitive cycle times for several industrial instances, and may be preferred in an individualized production. Second, since solving the task assignment problem for generating the disjoint robot programs was found to be unreasonably time-consuming, we model it as a generalized unrelated parallel machine problem with set packing constraints and suggest a tailored Lagrangian-based branch-and-bound algorithm. Third, a continuous collision detection method needs to determine whether the sweeps of multiple moving robots are disjoint. We suggest using the maximum velocity of each robot along with distance computations at certain robot configurations to derive a function that provides lower bounds on the minimum distance between the sweeps. The lower bounding function is iteratively minimized and updated with new distance information; our method is substantially faster than previously developed methods. Fourth, to allow for load balancing of complex multi-robot stations we generalize the disjoint robot programs into sequences of such; for some instances this procedure provides a significant equipment utilization improvement in comparison with previous automated methods

Not every GTSP facet induces an STSP facet

Abstract. The graphical traveling salesman problem (GTSP) has been studied as a variant of the classical symmetric traveling salesman problem (STSP) suited particularly for sparse graphs. In addition, it can be viewed as a relaxation of the STSP and employed for solving the latter to optimality as originally proposed by Naddef and Rinaldi. There is a close natural connection between the two associated polyhedra. Until now, it was not known whether there are facets in TT-form of the GTSP polyhedron which are not facets of the STSP polytope as well. In this paper we give an affirmative answer to this question for n ≥ 9 and provide a general method for constructing such facets