Reoptimization of Some Maximum Weight Induced Hereditary Subgraph Problems

The reoptimization issue studied in this paper can be described as follows: given an instance I of some problem Π, an optimal solution OPT for Π in I and an instance I′ resulting from a local perturbation of I that consists of insertions or removals of a small number of data, we wish to use OPT in order to solve Π in I', either optimally or by guaranteeing an approximation ratio better than that guaranteed by an ex nihilo computation and with running time better than that needed for such a computation. We use this setting in order to study weighted versions of several representatives of a broad class of problems known in the literature as maximum induced hereditary subgraph problems. The main problems studied are max independent set, max k-colorable subgraph and max split subgraph under vertex insertions and deletion

On the probabilistic min spanning tree Problem

We study a probabilistic optimization model for min spanning tree, where any vertex vi of the input-graph G(V,E) has some presence probability pi in the final instance G′ ⊂ G that will effectively be optimized. Suppose that when this “real” instance G′ becomes known, a spanning tree T, called anticipatory or a priori spanning tree, has already been computed in G and one can run a quick algorithm (quicker than one that recomputes from scratch), called modification strategy, that modifies the anticipatory tree T in order to fit G ′. The goal is to compute an anticipatory spanning tree of G such that, its modification for any G ′ ⊆ G is optimal for G ′. This is what we call probabilistic min spanning tree problem. In this paper we study complexity and approximation of probabilistic min spanning tree in complete graphs under two distinct modification strategies leading to different complexity results for the problem. For the first of the strategies developed, we also study two natural subproblems of probabilistic min spanning tree, namely, the probabilistic metric min spanning tree and the probabilistic min spanning tree 1,2 that deal with metric complete graphs and complete graphs with edge-weights either 1, or 2, respectively

Fast reoptimization for the minimum spanning tree problem

AbstractWe study reoptimization versions of the minimum spanning tree problem. The reoptimization setting can generally be formulated as follows: given an instance of the problem for which we already know some optimal solution, and given some “small” perturbations on this instance, is it possible to compute a new (optimal or at least near-optimal) solution for the modified instance without ex nihilo computation? We focus on two kinds of modifications: node-insertions and node-deletions. When k new nodes are inserted together with their incident edges, we mainly propose a fast strategy with complexity O(kn) which provides a max{2,3−(2/(k−1))}-approximation ratio, in complete metric graphs and another one that is optimal with complexity O(nlogn). On the other hand, when k nodes are deleted, we devise a strategy which in O(n) achieves approximation ratio bounded above by 2⌈|Lmax|/2⌉ in complete metric graphs, where Lmax is the longest deleted path and |Lmax| is the number of its edges. For any of the approximation strategies, we also provide lower bounds on their approximation ratios

Changing Bases: Multistage Optimization for Matroids and Matchings

This paper is motivated by the fact that many systems need to be maintained continually while the underlying costs change over time. The challenge is to continually maintain near-optimal solutions to the underlying optimization problems, without creating too much churn in the solution itself. We model this as a multistage combinatorial optimization problem where the input is a sequence of cost functions (one for each time step); while we can change the solution from step to step, we incur an additional cost for every such change. We study the multistage matroid maintenance problem, where we need to maintain a base of a matroid in each time step under the changing cost functions and acquisition costs for adding new elements. The online version of this problem generalizes online paging. E.g., given a graph, we need to maintain a spanning tree $T_t$ at each step: we pay $c_t(T_t)$ for the cost of the tree at time $t$, and also $| T_t\setminus T_{t-1} |$ for the number of edges changed at this step. Our main result is an $O(\log m \log r)$-approximation, where $m$ is the number of elements/edges and $r$ is the rank of the matroid. We also give an $O(\log m)$ approximation for the offline version of the problem. These bounds hold when the acquisition costs are non-uniform, in which caseboth these results are the best possible unless P=NP. We also study the perfect matching version of the problem, where we must maintain a perfect matching at each step under changing cost functions and costs for adding new elements. Surprisingly, the hardness drastically increases: for any constant $\epsilon>0$, there is no $O(n^{1-\epsilon})$-approximation to the multistage matching maintenance problem, even in the offline case

Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints

Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the onboard sensors cover the current flight direction. Due to the limited payload of MAVs, full sensor coverage of the environment has to be traded off with flight time. Thus, often only a part of the environment is covered. We present a combined allocentric complete planning and trajectory optimization approach taking these sensor visibility constraints into account. The optimized trajectories yield flight paths within the apex angle of a Velodyne Puck Lite 3D laser scanner enabling low-level collision avoidance to perceive obstacles in the flight direction. Furthermore, the optimized trajectories take the flight dynamics into account and contain the velocities and accelerations along the path. We evaluate our approach with a DJI Matrice 600 MAV and in simulation employing hardware-in-the-loop.Comment: In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 201