Towards 40 years of constraint reasoning

Research on constraints started in the early 1970s. We are approaching 40 years since the beginning of this successful field, and it is an opportunity to revise what has been reached. This paper is a personal view of the accomplishments in this field. We summarize the main achievements along three dimensions: constraint solving, modelling and programming. We devote special attention to constraint solving, covering popular topics such as search, inference (especially arc consistency), combination of search and inference, symmetry exploitation, global constraints and extensions to the classical model. For space reasons, several topics have been deliberately omitted.Partially supported by the Spanish project TIN2009-13591-C02-02 and Generalitat de Catalunya grant 2009-SGR-1434.Peer Reviewe

Adding laziness in BnB-ADOPT+

In distributed constraint optimization, agents executing BnB-ADOPT+ react eagerly to cost changes: they send non-redundant COST messages to their parents as soon as they receive new messages. We have observed that a lazier reaction (not sending COST messages until a condition is met) substantially decrements the number of messages sent and causes only a small variation in ENCCCs. This approach combines nicely with soft arc consistency maintenance during search. We provide experimental evidence of the benefits of this approach on several benchmarks.This research has been supported by the following grants: CUHK413808, CUHK413710 and CUHK413713 from the Research Grants Council of Hong Kong SAR, the CSIC / RGC Joint Research Scheme grants S-HK003/12 and 2011HK0017, TIN2013-45732-C4-4-P from Spanish MINECO, and Generalitat de Catalunya SGR- 2014-118Peer Reviewe

Decentralized dynamic task allocation for UAVs with limited communication range

We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentralized task allocation problems. Then we present two solutions both based on modeling the allocation task as a Markov Random Field to subsequently assess decisions by means of the decentralized Max-Sum algorithm. Our first solution assumes independence between requests, whereas our second solution also considers the UAVs' workloads. A thorough empirical evaluation shows that our workload-based solution consistently outperforms current state-of-the-art methods in a wide range of scenarios, lowering the average service time up to 16%. In the best-case scenario there is no gap between our decentralized solution and centralized techniques. In the worst-case scenario we manage to reduce by 25% the gap between current decentralized and centralized techniques. Thus, our solution becomes the method of choice for our problem

Three decades of Space Activities at the Instituto Universitario de Microgravedad "Ignacio Da Riva" / Universidad Politécnica de Madrid (IDR/UPM) en History of Rocketry and Astronautics

Strictly speaking, space related activities at the Escuela Técnica Superior de Ingenieros Aeronáuticos (ETSIA) begun in 1973, when Prof. Ignacio Da Riva got a contract from the European Space Agency (ESA) to compile a handbook on spacecraft thermal control. By the same time, ESA issued an announcement of opportunities offering to the European scientific community the possibility of perform microgravity relevant experiments on board space platform like the European orbital laboratory Spacelab. Prof. Da Riva proposed one of the few selected experiments dealing with fluid physics under microgravity conditions, later flown on Spacelab-1 mission in 1983. These two events were the starting point where Prof. Da Riva, full professor of Aerodynamics at ETSIA, nucleated a small group of young professors and students located at the Laboratorio de Aerodinámica y Mecánica de Fluidos (LAMF) of ETSIA. Such group was leaded by Prof. Da Riva since its creation till 1991, when Prof. Da Riva died, and it was the seed of the more recently created research institute for aerospace science and technology named "Ignacio Da Riva" (IDR) in his honour. In this communication space related activities performed either at LAMF or IDR during the last three decades are briefly described

One-dimensional linear analysis of the compound jet

The stability of an infinitely long compound liquid column is analysed by using a one-dimensional inviscid slice model. Results obtained from this one-dimensional linear analysis are applicable to the study of compound capillary jets, which are used in the ink-jet printing technique. Stability limits and the breaking regimes of such fluid configurations are established, and, whenever possible, theoretical results are compared with experimental ones

Numerical and experimental study of the dynamics of axisymmetric slender liquid bridges

A one-dimensional inviscid slice model has been used to study numerically the influence of axial microgravity on the breaking of liquid bridges having a volume close to that of gravitationless minimum volume stability limit. Equilibrium shapes and stability limits have been obtained as well as the dependence of the volume of the two drops formed after breaking on both the length and the volume of the liquid bridge. The breaking process has also been studied experimentally. Good agreement has been found between theory and experiment for neutrally buoyant system

One-dimensional linear analysis of the liquid injection or removal in a liquid bridge

The filling-withdrawal process of a long liquid bridge is analyzed using a one-dimensional linearized model for the dynamics of the liquid column. To carry out this study, a well-known standard operational method (Laplace transform) has been used, and time variation of both liquid velocity field and interface shape are obtained

Global constraints in distributed constraint satisfaction and optimization

Global constraints are an essential component in the efficiency of centralized constraint programming. We propose to include global constraints in distributed constraint satisfaction problem (DisCSP) and distributed constraint optimization problem (DCOP). We detail how this inclusion can be done, considering different representations for global constraints (direct, nested, binary). We explore the relation of global constraints with local consistency (both in the hard and soft cases), in particular, for generalized arc consistency (GAC). We provide experimental evidence of the benefits of global constraints on several benchmarks, both for distributed constraint satisfaction and for distributed constraint optimization. © 2013 The Author.2009-SGR-1434; Generalitat de CatalunyaPeer Reviewe

A tutorial on optimization for multi-agent systems

Research on optimization in multi-agent systems (MASs) has contributed with a wealth of techniques to solve many of the challenges arising in a wide range of multi-agent application domains. Multi-agent optimization focuses on casting MAS problems into optimization problems. The solving of those problems could possibly involve the active participation of the agents in a MAS. Research on multi-agent optimization has rapidly become a very technical, specialized field. Moreover, the contributions to the field in the literature are largely scattered. These two factors dramatically hinder access to a basic, general view of the foundations of the field. This tutorial is intended to ease such access by providing a gentle introduction to fundamental concepts and techniques on multi-agent optimization. © 2013 The Author.Peer Reviewe

IDR/UPM facilities for liquid bridge experimentation on earth under microgravity conditions

Besides space laboratories for in-orbit experimentation, Earth based facilities for laboratory experimentation are of paramount importance for the enhancement on liquid bridge knowledge. In spite of the constraints imposed by simulated microgravity (which force to work either with very small size liquid bridges or by using the Plateau tank technique, amongst other techniques), the availability and accessibility of Earth facilities can circumvent in many cases the drawbacks associated with simulated microgravity conditions. To support theoretical and in orbit experimental studies on liquid bridges under reduced gravity conditions, several ground facilities were developed at IDR. In the following these ground facilities are briefly described, and main results obtained by using them are cited