Facility Location in Evolving Metrics

Understanding the dynamics of evolving social or infrastructure networks is a challenge in applied areas such as epidemiology, viral marketing, or urban planning. During the past decade, data has been collected on such networks but has yet to be fully analyzed. We propose to use information on the dynamics of the data to find stable partitions of the network into groups. For that purpose, we introduce a time-dependent, dynamic version of the facility location problem, that includes a switching cost when a client's assignment changes from one facility to another. This might provide a better representation of an evolving network, emphasizing the abrupt change of relationships between subjects rather than the continuous evolution of the underlying network. We show that in realistic examples this model yields indeed better fitting solutions than optimizing every snapshot independently. We present an $O(\log nT)$-approximation algorithm and a matching hardness result, where $n$ is the number of clients and $T$ the number of time steps. We also give an other algorithms with approximation ratio $O(\log nT)$ for the variant where one pays at each time step (leasing) for each open facility

The reverse greedy algorithm for the metric k-median problem

The Reverse Greedy algorithm (RGreedy) for the k-median problem works as follows. It starts by placing facilities on all nodes. At each step, it removes a facility to minimize the resulting total distance from the customers to the remaining facilities. It stops when k facilities remain. We prove that, if the distance function is metric, then the approximation ratio of RGreedy is between ?(log n/ log log n) and O(log n).Comment: to appear in IPL. preliminary version in COCOON '0

Incremental Medians via Online Bidding

In the k-median problem we are given sets of facilities and customers, and distances between them. For a given set F of facilities, the cost of serving a customer u is the minimum distance between u and a facility in F. The goal is to find a set F of k facilities that minimizes the sum, over all customers, of their service costs. Following Mettu and Plaxton, we study the incremental medians problem, where k is not known in advance, and the algorithm produces a nested sequence of facility sets where the kth set has size k. The algorithm is c-cost-competitive if the cost of each set is at most c times the cost of the optimum set of size k. We give improved incremental algorithms for the metric version: an 8-cost-competitive deterministic algorithm, a 2e ~ 5.44-cost-competitive randomized algorithm, a (24+epsilon)-cost-competitive, poly-time deterministic algorithm, and a (6e+epsilon ~ .31)-cost-competitive, poly-time randomized algorithm. The algorithm is s-size-competitive if the cost of the kth set is at most the minimum cost of any set of size k, and has size at most s k. The optimal size-competitive ratios for this problem are 4 (deterministic) and e (randomized). We present the first poly-time O(log m)-size-approximation algorithm for the offline problem and first poly-time O(log m)-size-competitive algorithm for the incremental problem. Our proofs reduce incremental medians to the following online bidding problem: faced with an unknown threshold T, an algorithm submits "bids" until it submits a bid that is at least the threshold. It pays the sum of all its bids. We prove that folklore algorithms for online bidding are optimally competitive.Comment: conference version appeared in LATIN 2006 as "Oblivious Medians via Online Bidding

General Bounds for Incremental Maximization

We propose a theoretical framework to capture incremental solutions to cardinality constrained maximization problems. The defining characteristic of our framework is that the cardinality/support of the solution is bounded by a value $k\in\mathbb{N}$ that grows over time, and we allow the solution to be extended one element at a time. We investigate the best-possible competitive ratio of such an incremental solution, i.e., the worst ratio over all $k$ between the incremental solution after $k$ steps and an optimum solution of cardinality $k$. We define a large class of problems that contains many important cardinality constrained maximization problems like maximum matching, knapsack, and packing/covering problems. We provide a general $2.618$-competitive incremental algorithm for this class of problems, and show that no algorithm can have competitive ratio below $2.18$ in general. In the second part of the paper, we focus on the inherently incremental greedy algorithm that increases the objective value as much as possible in each step. This algorithm is known to be $1.58$-competitive for submodular objective functions, but it has unbounded competitive ratio for the class of incremental problems mentioned above. We define a relaxed submodularity condition for the objective function, capturing problems like maximum (weighted) ($b$-)matching and a variant of the maximum flow problem. We show that the greedy algorithm has competitive ratio (exactly) $2.313$ for the class of problems that satisfy this relaxed submodularity condition. Note that our upper bounds on the competitive ratios translate to approximation ratios for the underlying cardinality constrained problems.Comment: fixed typo

Dynamic Facility Location via Exponential Clocks

The \emph{dynamic facility location problem} is a generalization of the classic facility location problem proposed by Eisenstat, Mathieu, and Schabanel to model the dynamics of evolving social/infrastructure networks. The generalization lies in that the distance metric between clients and facilities changes over time. This leads to a trade-off between optimizing the classic objective function and the "stability" of the solution: there is a switching cost charged every time a client changes the facility to which it is connected. While the standard linear program (LP) relaxation for the classic problem naturally extends to this problem, traditional LP-rounding techniques do not, as they are often sensitive to small changes in the metric resulting in frequent switches. We present a new LP-rounding algorithm for facility location problems, which yields the first constant approximation algorithm for the dynamic facility location problem. Our algorithm installs competing exponential clocks on the clients and facilities, and connect every client by the path that repeatedly follows the smallest clock in the neighborhood. The use of exponential clocks gives rise to several properties that distinguish our approach from previous LP-roundings for facility location problems. In particular, we use \emph{no clustering} and we allow clients to connect through paths of \emph{arbitrary lengths}. In fact, the clustering-free nature of our algorithm is crucial for applying our LP-rounding approach to the dynamic problem

Robust Legged Robot State Estimation Using Factor Graph Optimization

Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From the perspective of state estimation, it is essential to be able to accurately estimate the robot's state despite challenges such as uneven or slippery terrain, textureless and reflective scenes, as well as dynamic camera occlusions. We are motivated to reduce the dependency on foot contact classifications, which fail when slipping, and to reduce position drift during dynamic motions such as trotting. To this end, we present a factor graph optimization method for state estimation which tightly fuses and smooths inertial navigation, leg odometry and visual odometry. The effectiveness of the approach is demonstrated using the ANYmal quadruped robot navigating in a realistic outdoor industrial environment. This experiment included trotting, walking, crossing obstacles and ascending a staircase. The proposed approach decreased the relative position error by up to 55% and absolute position error by 76% compared to kinematic-inertial odometry.Comment: 8 pages, 12 figures. Accepted to RA-L + IROS 2019, July 201