Taming Numbers and Durations in the Model Checking Integrated Planning System

The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration algorithms from the set of on-line and off-line computed estimates and associated data structures. MIPS has shown distinguished performance in the last two international planning competitions. In the last event the description language was extended from pure propositional planning to include numerical state variables, action durations, and plan quality objective functions. Plans were no longer sequences of actions but time-stamped schedules. As a participant of the fully automated track of the competition, MIPS has proven to be a general system; in each track and every benchmark domain it efficiently computed plans of remarkable quality. This article introduces and analyzes the most important algorithmic novelties that were necessary to tackle the new layers of expressiveness in the benchmark problems and to achieve a high level of performance. The extensions include critical path analysis of sequentially generated plans to generate corresponding optimal parallel plans. The linear time algorithm to compute the parallel plan bypasses known NP hardness results for partial ordering by scheduling plans with respect to the set of actions and the imposed precedence relations. The efficiency of this algorithm also allows us to improve the exploration guidance: for each encountered planning state the corresponding approximate sequential plan is scheduled. One major strength of MIPS is its static analysis phase that grounds and simplifies parameterized predicates, functions and operators, that infers knowledge to minimize the state description length, and that detects domain object symmetries. The latter aspect is analyzed in detail. MIPS has been developed to serve as a complete and optimal state space planner, with admissible estimates, exploration engines and branching cuts. In the competition version, however, certain performance compromises had to be made, including floating point arithmetic, weighted heuristic search exploration according to an inadmissible estimate and parameterized optimization

Worst-Case Efficient Sorting with QuickMergesort

The two most prominent solutions for the sorting problem are Quicksort and Mergesort. While Quicksort is very fast on average, Mergesort additionally gives worst-case guarantees, but needs extra space for a linear number of elements. Worst-case efficient in-place sorting, however, remains a challenge: the standard solution, Heapsort, suffers from a bad cache behavior and is also not overly fast for in-cache instances. In this work we present median-of-medians QuickMergesort (MoMQuickMergesort), a new variant of QuickMergesort, which combines Quicksort with Mergesort allowing the latter to be implemented in place. Our new variant applies the median-of-medians algorithm for selecting pivots in order to circumvent the quadratic worst case. Indeed, we show that it uses at most $n \log n + 1.6n$ comparisons for $n$ large enough. We experimentally confirm the theoretical estimates and show that the new algorithm outperforms Heapsort by far and is only around 10% slower than Introsort (std::sort implementation of stdlibc++), which has a rather poor guarantee for the worst case. We also simulate the worst case, which is only around 10% slower than the average case. In particular, the new algorithm is a natural candidate to replace Heapsort as a worst-case stopper in Introsort

Abstraction in directed model checking

Abstraction is one of the most important issues to cope with large and infinite state spaces in model checking and to reduce the verification efforts. The abstract system is smaller than the original one and if the abstract system satisfies a correctness specification, so does the concrete one. However, abstractions may introduce a behavior violating the specification that is not present in the original system. This paper bypasses this problem by proposing the combination of abstraction with heuristic search to improve error detection. The abstract system is explored in order to create a database that stores the exact distances from abstract states to the set of abstract error states. To check, whether or not the abstract behavior is present in the original system, effcient exploration algorithms exploit the database as a guidance

Lex-Partitioning: A New Option for BDD Search

For the exploration of large state spaces, symbolic search using binary decision diagrams (BDDs) can save huge amounts of memory and computation time. State sets are represented and modified by accessing and manipulating their characteristic functions. BDD partitioning is used to compute the image as the disjunction of smaller subimages. In this paper, we propose a novel BDD partitioning option. The partitioning is lexicographical in the binary representation of the states contained in the set that is represented by a BDD and uniform with respect to the number of states represented. The motivation of controlling the state set sizes in the partitioning is to eventually bridge the gap between explicit and symbolic search. Let n be the size of the binary state vector. We propose an O(n) ranking and unranking scheme that supports negated edges and operates on top of precomputed satcount values. For the uniform split of a BDD, we then use unranking to provide paths along which we partition the BDDs. In a shared BDD representation the efforts are O(n). The algorithms are fully integrated in the CUDD library and evaluated in strongly solving general game playing benchmarks.Comment: In Proceedings GRAPHITE 2012, arXiv:1210.611

Strengthened Lazy Heaps: Surpassing the Lower Bounds for Binary Heaps

Let $n$ denote the number of elements currently in a data structure. An in-place heap is stored in the first $n$ locations of an array, uses $O(1)$ extra space, and supports the operations: minimum, insert, and extract-min. We introduce an in-place heap, for which minimum and insert take $O(1)$ worst-case time, and extract-min takes $O(\lg{} n)$ worst-case time and involves at most $\lg{} n + O(1)$ element comparisons. The achieved bounds are optimal to within additive constant terms for the number of element comparisons. In particular, these bounds for both insert and extract-min -and the time bound for insert- surpass the corresponding lower bounds known for binary heaps, though our data structure is similar. In a binary heap, when viewed as a nearly complete binary tree, every node other than the root obeys the heap property, i.e. the element at a node is not smaller than that at its parent. To surpass the lower bound for extract-min, we reinforce a stronger property at the bottom levels of the heap that the element at any right child is not smaller than that at its left sibling. To surpass the lower bound for insert, we buffer insertions and allow $O(\lg^2{} n)$ nodes to violate heap order in relation to their parents

Action planning for graph transition systems

Graphs are suitable modeling formalisms for software and hardware systems involving aspects such as communication, object orientation, concurrency, mobility and distribution. State spaces of such systems can be represented by graph transition systems, which are basically transition systems whose states and transitions represent graphs and graph morphisms. In this paper, we propose the modeling of graph transition systems in PDDL and the application of heuristic search planning for their analysis. We consider different heuristics and present experimental results

Distributed Nested Rollout Policy for Same Game

Nested Rollout Policy Adaptation (NRPA) is a Monte Carlo search heuristic for puzzles and other optimization problems. It achieves state-of-the-art performance on several games including SameGame. In this paper, we design several parallel and distributed NRPA-based search techniques, and we provide a number of experimental insights about their execution. Finally, we use our best implementation to discover 15 better scores for 20 standard SameGame boards