Asymmetric Traveling Salesman Path and Directed Latency Problems

We study integrality gaps and approximability of two closely related problems on directed graphs. Given a set V of n nodes in an underlying asymmetric metric and two specified nodes s and t, both problems ask to find an s-t path visiting all other nodes. In the asymmetric traveling salesman path problem (ATSPP), the objective is to minimize the total cost of this path. In the directed latency problem, the objective is to minimize the sum of distances on this path from s to each node. Both of these problems are NP-hard. The best known approximation algorithms for ATSPP had ratio O(log n) until the very recent result that improves it to O(log n/ log log n). However, only a bound of O(sqrt(n)) for the integrality gap of its linear programming relaxation has been known. For directed latency, the best previously known approximation algorithm has a guarantee of O(n^(1/2+eps)), for any constant eps > 0. We present a new algorithm for the ATSPP problem that has an approximation ratio of O(log n), but whose analysis also bounds the integrality gap of the standard LP relaxation of ATSPP by the same factor. This solves an open problem posed by Chekuri and Pal [2007]. We then pursue a deeper study of this linear program and its variations, which leads to an algorithm for the k-person ATSPP (where k s-t paths of minimum total length are sought) and an O(log n)-approximation for the directed latency problem

Approximation Algorithms for Path TSP, ATSP, and TAP via Relaxations

Linear programming (LP) relaxations provide a powerful technique to design approximation algorithms for combinatorial optimization problems. In the first part of the thesis, we study the metric s-t path Traveling Salesman Problem (TSP) via LP relaxations. We first consider the s-t path graph-TSP, a critical special case of the metric s-t path TSP. We design a new simple LP-based algorithm for the s-t path graph-TSP that achieves the best known approximation factor of 1.5. Then, we turn our attention to the general metric s-t path TSP. [An, Kleinberg, and Shmoys, STOC 2012] improved on the long standing 5/3-approximation factor and presented an algorithm that achieves an approximation factor of (1+\sqrt{5})/2 \approx 1.61803. Later, [Sebo, IPCO 2013] further improved the approximation factor to 8/5. We present a simple, self-contained analysis that unifies both results. Additionally, we compare two different LP relaxations of the s-t path TSP, namely the path version of the Held-Karp LP relaxation for TSP and a weaker LP relaxation, and we show that both LPs have the same (fractional) optimal value. Also, we show that the minimum cost of integral solutions of the two LPs are within a factor of 3/2 of each other. Furthermore, we prove that a half-integral solution of the stronger LP relaxation of cost c can be rounded to an integral solution of cost at most 3c/2. Finally, we give an instance that presents obstructions to two natural methods that aim for an approximation factor of 3/2. The Sherali-Adams (SA) system and the Lasserre (Las) system are two popular Lift-and-Project systems that tighten a given LP relaxation in a systematic way. In the second part of the thesis, we study the Asymmetric Traveling Salesman Problem (ATSP) and unweighted Tree Augmentation Problem, respectively, in the framework of the SA system and the Las system. For ATSP, our focus is on negative results. For any fixed integer t>=0 and small \epsilon, 0<\epsilon<<1, we prove that the integrality ratio for level t of the SA system starting with the standard LP relaxation of ATSP is at least 1+(1-\epsilon)/(2t+3). For a further relaxation of ATSP called the balanced LP relaxation, we obtain an integrality ratio lower bound of 1+(1-\epsilon)/(t+1) for level t of the SA system. Also, our results for the standard LP relaxation extend to the path version of ATSP. For the unweighted Tree Augmentation Problem, our focus is on positive results. We study this problem via the Las system. We prove an upper bound of (1.5+\epsilon) on the integrality ratio of a semidefinite programming (SDP) relaxation, where \epsilon>0 can be any small constant, by analyzing a combinatorial algorithm. This SDP relaxation is derived by applying the Las system to an initial LP relaxation. We generalize the combinatorial analysis of integral solutions from the previous literature to fractional solutions by identifying some properties of fractional solutions of the Las system via the decomposition result of [Karlin, Mathieu, and Nguyen, IPCO 2011]

RoboTSP - A Fast Solution to the Robotic Task Sequencing Problem

In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall execution time. This travel time is in turn greatly affected by the order of visit of the targets, and by the robot configurations used to reach each target. Therefore, it is crucial to optimize these two elements, a problem known in the literature as the Robotic Task Sequencing Problem (RTSP). Our contribution in this paper is two-fold. First, we propose a fast, near-optimal, algorithm to solve RTSP. The key to our approach is to exploit the classical distinction between task space and configuration space, which, surprisingly, has been so far overlooked in the RTSP literature. Second, we provide an open-source implementation of the above algorithm, which has been carefully benchmarked to yield an efficient, ready-to-use, software solution. We discuss the relationship between RTSP and other Traveling Salesman Problem (TSP) variants, such as the Generalized Traveling Salesman Problem (GTSP), and show experimentally that our method finds motion sequences of the same quality but using several orders of magnitude less computation time than existing approaches.Comment: 6 pages, 7 figures, 1 tabl

Approximating ATSP by Relaxing Connectivity

The standard LP relaxation of the asymmetric traveling salesman problem has been conjectured to have a constant integrality gap in the metric case. We prove this conjecture when restricted to shortest path metrics of node-weighted digraphs. Our arguments are constructive and give a constant factor approximation algorithm for these metrics. We remark that the considered case is more general than the directed analog of the special case of the symmetric traveling salesman problem for which there were recent improvements on Christofides' algorithm. The main idea of our approach is to first consider an easier problem obtained by significantly relaxing the general connectivity requirements into local connectivity conditions. For this relaxed problem, it is quite easy to give an algorithm with a guarantee of 3 on node-weighted shortest path metrics. More surprisingly, we then show that any algorithm (irrespective of the metric) for the relaxed problem can be turned into an algorithm for the asymmetric traveling salesman problem by only losing a small constant factor in the performance guarantee. This leaves open the intriguing task of designing a "good" algorithm for the relaxed problem on general metrics.Comment: 25 pages, 2 figures, fixed some typos in previous versio