In this paper, we give the first constant-factor approximation algorithm for the rooted Orienteering problem, as well as a new problem that we call the Discounted-Reward traveling salesman problem (TSP), motivated by robot navigation. In both problems, we are given a graph with lengths on edges and rewards on nodes, and a start node s. In the Orienteering problem, the goal is to find a path starting at s that maximizes the reward collected, subject to a hard limit on the total length of the path. In the Discounted-Reward TSP, instead of a length limit we are given a discount factor $\gamma$, and the goal is to maximize the total discounted reward collected, where the reward for a node reached at time t is discounted by $\gamma^t$. This problem is motivated by an approximation to a planning problem in the Markov decision process (MDP) framework under the commonly employed infinite horizon discounted reward optimality criterion. The approximation arises from a need to deal with exponentially large state spaces that emerge when trying to model one-time events and nonrepeatable rewards (such as for package deliveries). We also consider tree and multiple-path variants of these problems and provide approximations for those as well. Although the unrooted Orienteering problem, where there is no fixed start node s, has been known to be approximable using algorithms for related problems such as k-TSP (in which the amount of reward to be collected is fixed and the total length is approximately minimized), ours is the first to approximate the rooted question, solving an open problem in [E. M. Arkin, J. S. B. Mitchell, and G. Narasimhan, Proceedings of the $14$th ACM Symposium on Computational Geometry, 1998, pp. 307–316] and [B. Awerbuch, Y. Azar, A. Blum, and S. Vempala, SIAM J. Comput., 28 (1998), pp. 254–262]. We complement our approximation result for Orienteering by showing that the problem is APX-hard.

In this paper, we give the first constant-factor approximation algorithm for the rooted orienteering problem, as well as a new problem that we call the Discounted-Reward TSP, motivated by robot navigation. In both problems, we are given a graph with lengths on edges and prizes (rewards) on nodes, and a start node s. In the orienteering problem, the goal is to find a path that maximizes the reward collected, subject to a hard limit on the total length of the path. In the Discounted-Reward TSP, instead of a length limit we are given a discount factor /spl gamma/, and the goal is to maximize total discounted reward collected, where reward for a node reached at time t is discounted by /spl gamma//sup t/. This is similar to the objective considered in Markov decision processes (MDPs) except we only receive a reward the first time a node is visited. We also consider tree and multiple-path variants of these problems and provide approximations for those as well. Although the unrooted orienteering problem, where there is no fixed start node s, has been known to be approximable using algorithms for related problems such as k-TSP (in which the amount of reward to be collected is fixed and the total length is approximately minimized), ours is the first to approximate the rooted question, solving an open problem based on B. Awerbuch et al. (1999) and E.M. Arkin (1998).

A networking problem of present-day interest is that of distributing a single data item to multiple clients while minimizing network usage. Steiner tree algorithms are a natural solution method, but only when the set of clients requesting the data is known. We study what can be done without this global knowledge, when a given vertex knows only the probability that any other client wishes to be connected, and must simply specify a fixed path to the data to be used in case it is requested. Our problem is an example of a class of network design problems with concave cost functions (which arise when the design problem exhibits economies of scale). In order to solve our problem, we introduce a new version of the facility location problem: one in which every open facility is required to have some minimum amount of demand assigned to it. We present a simple bicriterion approximation for this problem, one which is loose in both assignment cost and minimum demand, but within a constant factor of the optimum for both. This suffices for our application. We leave open the question of finding an algorithm that produces a truly feasible approximate solution.