The Covering Canadian Traveller Problem Revisited

In this paper, we consider the k-Covering Canadian Traveller Problem (k-CCTP), which can be seen as a variant of the Travelling Salesperson Problem. The goal of k-CCTP is finding the shortest tour for a traveller to visit a set of locations in a given graph and return to the origin. Crucially, unknown to the traveller, up to k edges of the graph are blocked and the traveller only discovers blocked edges online at one of their respective endpoints. The currently best known upper bound for k-CCTP is O(?k) which was shown in [Huang and Liao, ISAAC \u2712]. We improve this polynomial bound to a logarithmic one by presenting a deterministic O(log k)-competitive algorithm that runs in polynomial time. Further, we demonstrate the tightness of our analysis by giving a lower bound instance for our algorithm

Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints

Autonomy in multi-robot systems is bounded by coordination among its agents. Coordination implies simultaneous task decomposition, task allocation, team formation, task scheduling and routing; collectively termed as task planning. In many real-world applications of multi-robot systems such as commercial cleaning, delivery systems, warehousing and inventory management: spatial & temporal constraints, variable execution time, and energy limitations need to be integrated into the planning module. Spatial constraints comprise of the location of the tasks, their reachability, and the structure of the environment; temporal constraints express task completion deadlines. There has been significant research in multi-robot task allocation involving spatio-temporal constraints. However, limited attention has been paid to combine them with team formation and non- instantaneous task execution time. We achieve team formation by including quota constraints which ensure to schedule the number of robots required to perform the task. We introduce and integrate task activation (time) windows with the team effort of multiple robots in performing tasks for a given duration. Additionally, while visiting tasks in space, energy budget affects the robots operation time. We map energy depletion as a function of time to ensure long-term operation by periodically visiting recharging stations. Research on task planning approaches which combines all these conditions is still lacking. In this thesis, we propose two variants of Team Orienteering Problem with task activation windows and limited energy budget to formulate the simultaneous task allocation and scheduling as an optimization problem. A complete mixed integer linear programming (MILP) formulation for both variants is presented in this work, implemented using Gurobi Optimizer and analyzed for scalability. This work compares the different objectives of the formulation like maximizing the number of tasks visited, minimizing the total distance travelled, and/or maximizing the reward, to suit various applications. Finally, analysis of optimal solutions discover trends in task selection based on the travel cost, task completion rewards, robot\u27s energy level, and the time left to task inactivation

Exact and Heuristic Algorithms for Risk-Aware Stochastic Physical Search

We consider an intelligent agent seeking to obtain an item from one of several physical locations, where the cost to obtain the item at each location is stochastic. We study risk-aware stochastic physical search (RA-SPS), where both the cost to travel and the cost to obtain the item are taken from the same budget and where the objective is to maximize the probability of success while minimizing the required budget. This type of problem models many task-planning scenarios, such as space exploration, shopping, or surveillance. In these types of scenarios, the actual cost of completing an objective at a location may only be revealed when an agent physically arrives at the location, and the agent may need to use a single resource to both search for and acquire the item of interest. We present exact and heuristic algorithms for solving RA-SPS problems on complete metric graphs. We first formulate the problem as mixed integer linear programming problem. We then develop custom branch and bound algorithms that result in a dramatic reduction in computation time. Using these algorithms, we generate empirical insights into the hardness landscape of the RA-SPS problem and compare the performance of several heuristics

Algoritmos de aproximação para problemas de roteamento e conectividade com múltiplas funções de distância

Orientador: Lehilton Lelis Chaves PedrosaDissertação (mestrado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: Nesta dissertação, estudamos algumas generalizações de problemas clássicos de roteamento e conectividade cujas instâncias são compostas por um grafo completo e múltiplas funções de distância. Por exemplo, existe o Problema do Caixeiro Alugador (CaRS), no qual um viajante deseja visitar um conjunto de cidades alugando um ou mais carros disponíveis. Cada carro tem uma função de distância e uma taxa de retorno ao local do aluguel. CaRS é uma generalização do Problema do Caixeiro Viajante (TSP). Nós lidamos com esses problemas usando algoritmos de aproximação, que são algoritmos eficientes que produzem soluções com garantia de qualidade. Neste trabalho, são apresentadas duas abordagens, uma baseada em uma redução linear que preserva o fator de aproximação e outra baseada na construção de instâncias de dois problemas distintos. Os problemas considerados são o Steiner TSP, o Problema do Passeio com Coleta de Prêmios e o Problema da Floresta Restrita. Generalizamos cada um desses problemas considerando múltiplas funções de distância e, para cada um deles, apresentamos um algoritmo de aproximação com fator O(logn), onde n é o número de vértices (cidades). Essas aproximações são assintoticamente ótimas, já que não há algoritmos com fator o(log n), a não ser que P = NPAbstract: In this dissertation, we study some generalizations of classical routing and connectivity problems whose instances are composed of a complete graph and multiple distance functions. As an example, there is the Traveling Car Renter Problem (CaRS) in which a traveler wants to visit a set of cities by renting one or more available cars. Each car is associated to a distance function and a service fee to return to the rental location. CaRS is a generalization of the Traveling Salesman Problem (TSP). We deal with these problems using approximation algorithms which are efficient algorithms that produce solutions with quality guarantee. In this work, two approaches are presented, one based on a linear reduction that preserves the approximation factor and the other based on the construction of instances of two distinct problems. The studied problems are the Steiner TSP, the Profitable Tour Problem, and the Constrained Forest Problem. We generalize these problems by considering multiple distance functions and, for each of them, we present an O(log n)-approximation algorithm, where n is the number of vertices (cities). The factor is asymptotically optimal, since there is no approximation algorithm with factor o(log n) unless P = NPMestradoCiência da ComputaçãoMestra em Ciência da Computação001CAPE

Online optimization problems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2013.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student-submitted PDF version of thesis.Includes bibliographical references (pages 149-153).In this thesis, we study online optimization problems in routing and allocation applications. Online problems are problems where information is revealed incrementally, and decisions must be made before all information is available. We design and analyze algorithms for a variety of online problems, including traveling salesman problems with rejection options, generalized assignment problems, stochastic matching problems, and resource allocation problems. We use worst case competitive ratios to analyze the performance of proposed algorithms. We begin our study with online traveling salesman problems with rejection options where acceptance/rejection decisions are not required to be explicitly made. We propose an online algorithm in arbitrary metric spaces, and show that it is the best possible. We then consider problems where acceptance/rejection decisions must be made at the time when requests arrive. For dierent metric spaces, we propose dierent online algorithms, some of which are asymptotically optimal. We then consider generalized online assignment problems with budget constraints and resource constraints. We first prove that all online algorithms are arbitrarily bad for general cases. Then, under some assumptions, we propose, analyze, and empirically compare two online algorithms, a greedy algorithm and a primal dual algorithm. We study online stochastic matching problems. Instances with a fixed number of arrivals are studied first. A novel algorithm based on discretization is proposed and analyzed for unweighted problems. The same algorithm is modified to accommodate vertex-weighted cases. Finally, we consider cases where arrivals follow a Poisson Process. Finally, we consider online resource allocation problems. We first consider the problems with free but fixed inventory under certain assumptions, and present near optimal algorithms. We then relax some unrealistic assumptions. Finally, we generalize the technique to problems with flexible inventory with non-decreasing marginal costs.by Xin Lu.Ph.D

Online optimization in routing and scheduling

Thesis (Ph. D.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2006.Includes bibliographical references (leaves 169-176).In this thesis we study online optimization problems in routing and scheduling. An online problem is one where the problem instance is revealed incrementally. Decisions can (and sometimes must) be made before all information is available. We design and analyze (polynomial-time) online algorithms for a variety of problems. We utilize worst-case competitive ratio (and relaxations thereof), asymptotic and Monte Carlo simulation analyses in our study of these algorithms. The focus of this thesis is on online routing problems in arbitrary metric spaces. We begin our study with online versions of the Traveling Salesman Problem (TSP) and the Traveling Repairman Problem (TRP). We then generalize these basic problems to allow for precedence constraints, capacity constraints and multiple vehicles. We give the first competitive ratio results for many new online routing problems. We then consider resource augmentation, where we give the online algorithm additional resources: faster servers, larger capacities, more servers, less restrictive constraints and advanced information. We derive new worst-case bounds that are relaxations of the competitive ratio.(cont.) We also study the (stochastic) asymptotic properties of these algorithms - introducing stochastic structure to the problem data, unknown and unused by the online algorithm. In a variety of situations we show that many online routing algorithms are (quickly) asymptotically optimal, almost surely, and we characterize the rates of convergence. We also study classic machine sequencing problems in an online setting. Specifically, we look at deterministic and randomized algorithms for the problems of scheduling jobs with release dates on single and parallel machines, with and without preemption, to minimize the sum of weighted completion times. We derive improved competitive ratio bounds and we show that many well-known machine scheduling algorithms are almost surely asymptotically optimal under general stochastic assumptions. For both routing and sequencing problems, we complement these theoretical derivations with Monte Carlo simulation results.by Michael Robert Wagner.Ph.D

Node-Weighted Prize Collecting Steiner Tree and Applications

The Steiner Tree problem has appeared in the Karp's list of the first 21 NP-hard problems and is well known as one of the most fundamental problems in Network Design area. We study the Node-Weighted version of the Prize Collecting Steiner Tree problem. In this problem, we are given a simple graph with a cost and penalty value associated with each node. Our goal is to find a subtree T of the graph minimizing the cost of the nodes in T plus penalty of the nodes not in T. By a reduction from set cover problem it can be easily shown that the problem cannot be approximated in polynomial time within factor of (1-o(1))ln n unless NP has quasi-polynomial time algorithms, where n is the number of vertices of the graph. Moss and Rabani claimed an O(log n)-approximation algorithm for the problem using a Primal-Dual approach in their STOC'01 paper \cite{moss2001}. We show that their algorithm is incorrect by providing a counter example in which there is an O(n) gap between the dual solution constructed by their algorithm and the optimal solution. Further, evidence is given that their algorithm probably does not have a simple fix. We propose a new algorithm which is more involved and introduces novel ideas in primal dual approach for network design problems. Also, our algorithm is a Lagrangian Multiplier Preserving algorithm and we show how this property can be utilized to design an O(log n)-approximation algorithm for the Node-Weighted Quota Steiner Tree problem using the Lagrangian Relaxation method. We also show an application of the Node Weighted Quota Steiner Tree problem in designing algorithm with better approximation factor for Technology Diffusion problem, a problem proposed by Goldberg and Liu in \cite{goldberg2012} (SODA 2013). In Technology Diffusion, we are given a graph G and a threshold θ(v) associated with each vertex v and we are seeking a set of initial nodes called the seed set. Technology Diffusion is a dynamic process defined over time in which each vertex is either active or inactive. The vertices in the seed set are initially activated and each other vertex v gets activated whenever there are at least θ(v) active nodes connected to v through other active nodes. The Technology Diffusion problem asks to find the minimum seed set activating all nodes. Goldberg and Liu gave an O(rllog n)-approximation algorithm for the problem where r and l are the diameter of G and the number of distinct threshold values, respectively. We improve the approximation factor to O(min{r,l}log n) by establishing a close connection between the problem and the Node Weighted Quota Steiner Tree problem