A variety of heuristic search algorithms have been used in Domain-Independent Dynamic Programming (DIDP) for combinatorial optimization. While Complete Anytime Beam Search (CABS) has shown the best performance, it has an exponential memory usage in the worst case. We implement three linear-memory complete beam search algorithms in DIDP: two from the literature, Beam Stack Search (BSS) and Beam search Using Limited discrepancy Backtracking (BULB), and a third that is a novel adaptation of Depth-bounded Discrepancy Search to beam search. Our experimental results show that the linear-memory algorithms exhaust memory on fewer problem instances than CABS and, under restricted memory and extended run-time, BSS and BULB solve more problem instances in more problem classes than CABS. However, in all tested environments, CABS achieves the highest average proportion of instances solved in each of the problem classes, solves the most instances to optimality, and generates solutions with the lowest mean optimality gap.

The Quadratic Traveling Salesman Problem (QTSP) is a generalization of the Traveling Salesman Problem (TSP) with important applications in robotics and bioinformatics. The QTSP objective value depends on pairs of consecutive edges in the tour; hence, it is quadratic and generally hard to optimize. While various exact-solving approaches have been explored, many rely on specialized procedures and struggle to scale on large instances. More recently, carefully crafted metaheuristics have demonstrated better primal bounds and scalability, but they cannot provide any guarantees of solution quality nor prove the optimality of any solution. In this work, we propose new exact models for QTSP. We define direct encodings of QTSP in domain-independent dynamic programming (DIDP), constraint programming (CP), mixed integer quadratic programming (MIQP), and mixed integer linear programming (MILP), and compare them with the best-known exact method, a branch and cut (B&C) algorithm, and the state-of-the-art metaheuristic, a hybrid genetic algorithm (HGA). Our experimental results demonstrate that the DIDP model shows better scalability and finds the best feasible solutions on average among all exact solvers, including the B&C algorithm. HGA finds the best feasible solution among all approaches, with DIDP within 15% of the HGA cost on all experimented instances. Also, interestingly, our MILP model with the subtour elimination constraints generally finds better feasible solutions than the B&C algorithm while matching it in proving optimality, suggesting that lazily adding sub-tour elimination cuts is not particularly helpful in QTSP.

We propose domain-independent dynamic programming (DIDP) and constraint programming (CP) models to exactly solve type 1 and type 2 assembly line balancing problem with sequence-dependent setup times (SUALBPs). The goal is to assign tasks to assembly stations and to sequence these tasks within each station while satisfying precedence relations specified between a subset of task pairs. Each task has a given processing time and a setup time dependent on the previous task on the station to which the task is assigned. The sum of the processing and setup times of tasks assigned to each station constitute the station time and the maximum station time is called the cycle time. For the type 1 SUALBP (SUALBP-1), the objective is to minimize the number of stations, given a maximum cycle time. For the type 2 SUALBP (SUALBP-2), the objective is to minimize the cycle time, given the number of stations. On a set of diverse SUALBP instances, experimental results show that our approaches significantly outperform the state-of-the-art mixed integer programming models for SUALBP-1. For SUALBP-2, the DIDP model outperforms the state-of-the-art exact approach based on logic-based Benders decomposition. By closing 76 open instances for SUALBP-2, our results demonstrate the promise of DIDP for solving complex planning and scheduling problems. History: Accepted by Pascal Van Hentenryck, Area Editor for Computational Modeling: Methods and Analysis. Funding: This work was supported by Natural Sciences and Engineering Research Council of Canada [Grant RGPIN-2020-04039]. Supplemental Material: The software that supports the findings of this study is available within the paper and its Supplemental Information ( https://pubsonline.informs.org/doi/suppl/10.1287/ijoc.2024.0603 ) as well as from the IJOC GitHub software repository ( https://github.com/INFORMSJoC/2024.0603 ). The complete IJOC Software and Data Repository is available at https://informsjoc.github.io/ .

Domain-independent dynamic programming (DIDP), a model-based paradigm based on dynamic programming, has shown promising performance on multiple combinatorial optimization problems compared with mixed integer programming (MIP) and constraint programming (CP). The current DIDP solvers are based on heuristic search, and the state-of-the-art solver, complete anytime beam search (CABS), uses beam search. However, the current DIDP solvers cannot utilize multiple threads, unlike state-of-the-art MIP and CP solvers. In this paper, we propose three parallel beam search algorithms and develop multi-thread implementations of CABS. With 32 threads, our multi-thread DIDP solvers achieve 9 to 39 times speedup on average and significant performance improvement over the sequential solver, finding the new best solutions for two instances of the traveling salesperson problem with time windows. In addition, our solvers outperform multi-thread MIP and CP solvers in four of the six combinatorial optimization problems evaluated.

Fully Observable Non-Deterministic (FOND) planning is a variant of classical symbolic planning in which actions are nondeterministic, with an action's outcome known only upon execution. It is a popular planning paradigm with applications ranging from robot planning to dialogue-agent design and reactive synthesis. Over the last 20 years, a number of approaches to FOND planning have emerged. In this work, we establish a new state of the art, following in the footsteps of some of the most powerful FOND planners to date. Our planner, PR2, decisively outperforms the four leading FOND planners, at times by a large margin, in 17 of 18 domains that represent a comprehensive benchmark suite. Ablation studies demonstrate the impact of various techniques we introduce, with the largest improvement coming from our novel FOND-aware heuristic.

We propose a constraint programming (CP)–based branch-and-price-and-cut framework to exactly solve bipath multicommodity flow (MCF): an MCF problem with two paths for each demand. The goal is to route demands in a capacitated network under the minimum cost. The two paths must have disjoint arcs, and the delays accumulated along the two paths must be within a small deviation of each other. CP is used at multiple points in this framework: for solving pricing problems, for cut generation, and for primal and branching node heuristics. These modules use a CP solver designed for network routing problems and can be adapted to other combinatorial optimization problems. We also develop a novel, complete, two-level branching scheme. On a set of diverse bipath MCF instances, experimental results show that our algorithm significantly outperforms monolithic CP and mixed integer linear programming models and demonstrate the efficiency and flexibility brought by the tailored integration of linear programming and CP methodologies. History: Accepted by Pascal Van Hentenryck, Area Editor for Computational Modeling: Methods & Analysis. Funding: This work was supported by the Natural Sciences and Engineering Research Council of Canada; Huawei Technologies. Supplemental Material: The software that supports the findings of this study is available within the paper and its Supplemental Information ( https://pubsonline.informs.org/doi/suppl/10.1287/ijoc.2023.0128 ) as well as from the IJOC GitHub software repository ( https://github.com/INFORMSJoC/2023.0128 ). The complete IJOC Software and Data Repository is available at https://informsjoc.github.io/ .

Schedules define how resources process jobs in diverse domains, reaching from healthcare to transportation, and, therefore, denote a valuable starting point for analysis of the underlying system. However, publishing a schedule may disclose private information on the considered jobs. In this paper, we provide a first threat model for published schedules, thereby defining a completely new class of data privacy problems. We then propose distance-based measures to assess the privacy loss incurred by a published schedule, and show their theoretical properties for an uninformed adversary, which can be used as a benchmark for informed attacks. We show how an informed attack on a published schedule can be phrased as an inverse scheduling problem. We instantiate this idea by formulating the inverse of a well-studied single-machine scheduling problem, namely minimizing the total weighted completion times. An empirical evaluation for synthetic scheduling problems shows the effectiveness of informed privacy attacks and compares the results to theoretical bounds on uninformed attacks.

Data routing in networks is required to be efficient and reliable. Fast detection and recovery from link or path failures play crucial roles in the reliability guarantee. In this work, we investigate a variant of the multi-commodity flow problem to address one formalization of reliability, where for each demand, a primary path transmits the demand without exceeding a jitter limit and an arc-disjoint secondary path signals the possible failure of the primary path. We first present a compact mixed-integer linear programming model and then we devise a Branch-and-Benders-Cut algorithm to solve this combinatorial optimization problem. On a diverse set of instances, we evaluate the algorithm's performance and discuss several numerical results.

When a transportation service accommodates both people and goods, operators sometimes opt for vehicles that can be dynamically reconfigured for different demands. Motivated by air service in remote communities in Canada’s north, we define a pickup-and-delivery problem in which aircraft can add or remove seats during a multi-stop trip to accommodate varying demands. Given the demand for people and cargo as well as a seat inventory at each location, the problem consists in finding a tour that picks up and delivers all demand while potentially reconfiguring the vehicle capacity at each location by adding or removing seats. We develop a total of six models using three different approaches: constraint programming, mixed integer programming, and domain-independent dynamic programming. Our numerical experiments indicate that domain-independent dynamic programming is able to substantially outperform the other technologies on both solution quality and run-time on a set of randomly generated instances spanning the size of real problems in northern Canada.

In numeric AI planning, a state is represented by propositions and numeric variables, actions change the values of numeric variables in addition to adding and deleting propositions, and goals and preconditions of actions may include conditions over numeric variables. While domains of numeric variables are rational numbers in general, upper and lower bounds on variables affected only by constant increase and decrease can sometimes be determined and exploited by a heuristic function. In this paper, we generalize the existing method to variables that are changed by linear effects. We exploit the extracted bounds to improve the numeric LM-cut heuristic, a state-of-the-art admissible heuristic for linear numeric planning. Empirical evaluation shows that our method improves the performance of LM-cut in multiple domains. The proposed method can also detect unsolvability of some numeric tasks in polynomial time.

In the last decade, decision diagrams (DDs) have been the basis for a large array of novel approaches for modeling and solving optimization problems. Many techniques now use DDs as a key tool to achieve state-of-the-art performance within other optimization paradigms, such as integer programming and constraint programming. This paper provides a survey of the use of DDs in discrete optimization, particularly focusing on recent developments. We classify these works into two groups based on the type of diagram (i.e., exact or approximate) and present a thorough description of their use. We discuss the main advantages of DDs, point out major challenges, and provide directions for future work.

The LM-cut heuristic, both alone and as part of the operator counting framework, represents one of the most successful heuristics for classical planning. In this paper, we generalize LM-cut and its use in operator counting to optimal numeric planning with simple conditions and simple numeric effects, i.e., linear expressions over numeric state variables and actions that increase or decrease such variables by constant quantities. We introduce a variant of hmaxhbd (a previously proposed numeric hmax heuristic) based on the delete-relaxed version of such planning tasks and show that, although inadmissible by itself, our variant yields a numeric version of the classical LM-cut heuristic which is admissible. We classify the three existing families of heuristics for this class of numeric planning tasks and introduce the LM-cut family, proving dominance or incomparability between all pairs of existing max and LM-cut heuristics for numeric planning with simple conditions. Our extensive empirical evaluation shows that the new LM-cut heuristic, both on its own and as part of the operator counting framework, is the state-of-the-art for this class of numeric planning problem.

It is increasingly recognized that automated decision making systems cannot be black boxes: users require insight into the reasons that decisions are made. Explainable AI (XAI) has developed a number of approaches to this challenge, including the framework of counterfactual explanations where an explanation takes the form of the minimal change to the world required for a user’s desired decisions to be made. Building on recent work, we show that for a user query specifying an assignment to a subset of variables, a counterfactual explanation can be found using inverse optimization. Thus, we develop inverse constraint programming (CP): to our knowledge, the first definition and treatment of inverse optimization in constraint programming. We modify a cutting plane algorithm for inverse mixed-integer programming (MIP), resulting in both pure and hybrid inverse CP algorithms. We evaluate the performance of these algorithms in generating counterfactual explanations for two combinatorial optimization problems: the 0-1 knapsack problem and single machine scheduling with release dates. Our numerical experiments show that a MIP-CP hybrid approach extended with a novel early stopping criteria can substantially out-perform a MIP approach particularly when CP is the state of the art for the underlying optimization problem.

The General Data Protection Regulations (GDPR) entitle individuals to explanations for automated decisions. The form, comprehensibility, and even existence of such explanations remain open problems, investigated as part of explainable AI. We adopt the approach of counterfactual explanations and apply it to decisions made by declarative optimization models. We argue that inverse combinatorial optimization is particularly suited for counterfactual explanations but that the computational difficulties and relatively nascent literature make its application a challenge. To make progress, we address the case of counterfactual explanations that isolate the minimal differences for an individual. We show that under two common optimization functions, full inverse optimization is unnecessary. In particular, we show that for functions of the form of the sum of weighted binary variables, which includes frameworks such as weighted MaxSAT, a solution can be found by solving a slightly modified version of the original optimization model. In contrast, the sum of weighted integer variables can be solved with a binary search over a series of modifications to the original model.

Decision-making in large-scale compute clouds relies on accurate workload modeling. Unfortunately, prior models have proven insufficient in capturing the complex correlations in real cloud workloads. We introduce the first model of large-scale cloud workloads that captures long-range inter-job correlations in arrival rates, resource requirements, and lifetimes. Our approach models workload as a three-stage generative process, with separate models for: (1) the number of batch arrivals over time, (2) the sequence of requested resources, and (3) the sequence of lifetimes. Our lifetime model is a novel extension of recent work in neural survival prediction. It represents and exploits inter-job correlations using a recurrent neural network. We validate our approach by showing it is able to accurately generate the production virtual machine workload of two real-world cloud providers.

We address the one-to-one multicommodity pickup-and-delivery traveling salesman problem, a challenging variant of the traveling salesman problem that includes the transportation of commodities between locations. The goal is to find a minimum cost tour such that each commodity is delivered to its destination and the maximum capacity of the vehicle is never exceeded. We propose an exact approach that uses a discrete relaxation based on multivalued decision diagrams (MDDs) to better represent the combinatorial structure of the problem. We enhance our relaxation by using the MDDs as a subproblem to a Lagrangian relaxation technique, leading to significant improvements in both bound quality and run-time performance. Our work extends the use of MDDs for solving routing problems by presenting new construction methods and filtering rules based on capacity restrictions. Experimental results show that our approach outperforms state-of-the-art methodologies, closing 33 open instances from the literature, with 27 of those closed by our best variant.

We investigate the use of relaxed decision diagrams (DDs) for computing admissible heuristics for the cost-optimal delete-free planning (DFP) problem. Our main contributions are the introduction of two novel DD encodings for a DFP task: a multivalued decision diagram that includes the sequencing aspect of the problem and a binary decision diagram representation of its sequential relaxation. We present construction algorithms for each DD that leverage these different perspectives of the DFP task and provide theoretical and empirical analyses of the associated heuristics. We further show that relaxed DDs can be used beyond heuristic computation to extract delete-free plans, find action landmarks, and identify redundant actions. Our empirical analysis shows that while DD-based heuristics trail the state of the art, even small relaxed DDs are competitive with the linear programming heuristic for the DFP task, thus, revealing novel ways of designing admissible heuristics.

Time prediction is an essential component of decision making in various Artificial Intelligence application areas, including transportation systems, healthcare, and manufacturing. Predictions are required for efficient resource allocation and scheduling, optimized routing, and temporal action planning. In this work, we focus on time prediction in congested systems, where entities share scarce resources. To achieve accurate and explainable time prediction in this setting, features describing system congestion (e.g., workload and resource availability), must be considered. These features are typically gathered using process knowledge, (i.e., insights on the interplay of a system’s entities). Such knowledge is expensive to gather and may be completely unavailable. In order to automatically extract such features from data without prior process knowledge, we propose the model of congestion graphs, which are grounded in queueing theory. We show how congestion graphs are mined from raw event data using queueing theory based assumptions on the information contained in these logs. We evaluate our approach on two real-world datasets from healthcare systems where scarce resources prevail: an emergency department and an outpatient cancer clinic. Our experimental results show that using automatic generation of congestion features, we get an up to 23% improvement in terms of relative error in time prediction, compared to common baseline methods. We also detail how congestion graphs can be used to explain delays in the system.

Beam search is the most popular inference algorithm for decoding neural sequence models. Unlike greedy search, beam search allows for non-greedy local decisions that can potentially lead to a sequence with a higher overall probability. However, work on a number of applications has found that the quality of the highest probability hypothesis found by beam search degrades with large beam widths. We perform an empirical study of the behavior of beam search across three sequence synthesis tasks. We find that increasing the beam width leads to sequences that are disproportionately based on early, very low probability tokens that are followed by a sequence of tokens with higher (conditional) probability. We show that, empirically, such sequences are more likely to have a lower evaluation score than lower probability sequences without this pattern. Using the notion of search discrepancies from heuristic search, we hypothesize that large discrepancies are the cause of the performance degradation. We show that this hypothesis generalizes the previous ones in machine translation and image captioning. To validate our hypothesis, we show that constraining beam search to avoid large discrepancies eliminates the performance degradation.

Search and tracking is the problem of locating a moving target and following it to its destination. In this work, we consider a scenario in which the target moves across a large geographical area by following a road network and the search is performed by a team of unmanned aerial vehicles (UAVs). We formulate search and tracking as a combinatorial optimization problem and prove that the objective function is submodular. We exploit this property to devise a greedy algorithm. Although this algorithm does not offer strong theoretical guarantees because of the presence of temporal constraints that limit the feasibility of the solutions, it presents remarkably good performance, especially when several UAVs are available for the mission. As the greedy algorithm suffers when resources are scarce, we investigate two alternative optimization techniques: Constraint Programming (CP) and AI planning. Both approaches struggle to cope with large problems, and so we strengthen them by leveraging the greedy algorithm. We use the greedy solution to warm start the CP model and to devise a domain-dependent heuristic for planning. Our extensive experimental evaluation studies the scalability of the different techniques and identifies the conditions under which one approach becomes preferable to the others.

In this work, we study the runtime distribution of satisficing planning in ensembles of random planning problems and in multiple runs of a randomized heuristic search on a single planning instance. Using common heuristic functions (such as FF) and six benchmark problem domains from the IPC, we find a heavy-tailed behavior, similar to that found in CSP and SAT. We investigate two notions of constrainedness, often used in the modeling of planning problems, and show that the heavy-tailed behavior tends to appear in relatively relaxed problems, where the required effort is, on average, low. Finally, we show that as with randomized restarts in CSP and SAT solving, recent search enhancements that incorporate randomness in the search process can help mitigate the effect of the heavy tail.

Linear programming has been successfully used to compute admissible heuristics for cost-optimal classical planning. Although one of the strengths of linear programming is the ability to express and reason about numeric variables and constraints, their use in numeric planning is limited. In this work, we extend linear programming-based heuristics for classical planning to support numeric state variables. In particular, we propose a model for the interval relaxation, coupled with landmarks and state equation constraints. We consider both linear programming models and their harder-to-solve, yet more informative, integer programming versions. Our experimental analysis shows that considering an NP-Hard heuristic often pays off and that A* search using our integer programming heuristics establishes a new state of the art in cost-optimal numeric planning.

Problem difficulty for greedy best first search (GBFS) is not entirely understood, though existing work points to deep local minima and poor correlation between the h-values and the distance to goal as factors that have significant negative effect on the search effort. In this work, we show that there is a very strong exponential correlation between the depth of the single deepest local minima encountered in a search and the overall search effort. Furthermore, we find that the distribution of local minima depth changes dramatically based on the constrainedness of problems, suggesting an explanation for the previously observed heavy-tailed behavior in GBFS. In combinatorial search, a similar result led to the use of randomized restarts to escape deep subtrees with no solution and corresponding significant speed-ups. We adapt this method and propose a randomized restarting GBFS variant that improves GBFS performance by escaping deep local minima, and does so even in the presence of other, randomization-based, search enhancements.

In the recent years, there has been significant work on the difficulty of heuristic search problems, identifying different problem instance characteristics that can have a significant impact on search effort. Phase transitions in the solubility of random problem instances have proved useful in the study of problem difficulty for other classes of computational problems, notably SAT and CSP, and it has been shown that the hardest problems typically occur during this rapid transition. In this work, we perform the first empirical investigation of the phase transition phenomena for heuristic search. We establish the existence of a rapid transition in the solubility of an abstract model of heuristic search problems and show that, for greedy best first search, the hardest instances are associated with the phase transition region. We then perform a novel investigation of the behavior of heuristics of different strength across the solubility spectrum. Finally, we demonstrate that the behavior of our abstract model carries over to commonly used benchmark problems including the Pancake Problem, Grid Navigation, TopSpin, and the Towers of Hanoi. An interesting deviation is observed and explained in the Sliding Puzzle.

We investigate Constraint Programming and Planning Domain Definition Language-based technologies for planning and scheduling multiple robots in a retirement home environment to assist elderly residents. Our robotics problem and investigation into proposed solution approaches provide a real world application of planning and scheduling, while highlighting the different modeling assumptions required to solve such a problem. This information is valuable to the planning and scheduling community as it provides insight into potential application avenues, in particular for robotics problems. Based on empirical results, we conclude that a constraint-based scheduling approach, specifically a decomposition using constraint programming, provides the most promising results for our application.

Recent work aimed at developing a deeper understanding of suboptimal heuristic search has demonstrated that the use of a cost-based heuristic function in the presence of large operator cost ratio and the decision to allow re-opening of visited nodes can have a significant effect on search effort. In parallel research, phase transitions in problem solubility have proved useful in the study of problem difficulty for many computational problems and have recently been shown to exist in heuristic search problems. In this paper, we show that the impact on search effort associated with a larger operator cost ratio and the number of node re-expansions is concentrated almost entirely in the phase transition region. Combined with previous work connecting local minima in the search space with such behavior, these observations lead us to hypothesize a relationship between the phase transition and the existence of local minima.

This paper investigates three different technologies for solving a planning and scheduling problem of deploying multiple robots in a retirement home environment to assist elderly residents. The models proposed make use of standard techniques and solvers developed in AI planning and scheduling, with two primary motivations. First, to find a planning and scheduling solution that we can deploy in our real-world application. Second, to evaluate planning and scheduling technology in terms of the ``model-and-solve'' functionality that forms a major research goal in both domain-independent planning and constraint programming. Seven variations of our application are studied using the following three technologies: PDDL-based planning, time-line planning and scheduling, and constraint-based scheduling. The variations address specific aspects of the problem that we believe can impact the performance of the technologies while also representing reasonable abstractions of the real world application. We evaluate the capabilities of each technology and conclude that a constraint-based scheduling approach, specifically a decomposition using constraint programming, provides the most promising results for our application. PDDL-based planning is able to find mostly low quality solutions while the timeline approach was unable to model the full problem without alterations to the solver code, thus moving away from the model-and-solve paradigm. It would be misleading to conclude that constraint programming is ``better'' than PDDL-based planning in a general sense, both because we have examined a single application and because the approaches make different assumptions about the knowledge one is allowed to embed in a model. Nonetheless, we believe our investigation is valuable for AI planning and scheduling researchers as it highlights these different modelling assumptions and provides insight into avenues for the application of AI planning and scheduling for similar robotics problems. In particular, as constraint programming has not been widely applied to robot planning and scheduling in the literature, our results suggest significant untapped potential in doing so.

A partial-order plan (POP) compactly encodes a set of sequential plans that can be dynamically chosen by an agent at execution time. One natural measure of the quality of a POP is its flexibility, which is defined to be the total number of sequential plans it embodies (i.e., its linearizations). As this criteria is hard to optimize, existing work has instead optimized proxy functions that are correlated with the number of linearizations. In this paper, we develop and strengthen mixed-integer linear programming (MILP) models for three proxy functions: two from the POP literature and a third novel function based on the temporal flexibility criteria from the scheduling literature. We show theoretically and empirically that none of the three proxy measures dominate the others in terms of number of sequential plans. Compared to the state-of-the-art MaxSAT model for the problem, we empirically demonstrate that two of our MILP models result in equivalent or slightly better solution quality with savings of approximately one order of magnitude in computation time.

An effective approach to solving complex problems is to decompose them and integrate dedicated solvers for those subproblems. We introduce a hybrid decomposition that incorporates: (1) a quantum annealer that samples from the configuration space of a relaxed problem to obtain strong candidate solutions, and (2) a classical processor that maintains a global search tree and enforces constraints on the relaxed components of the problem. Our framework is the first to use quantum annealing as part of a complete search. We consider variants of our approach with differing amounts of guidance from the quantum annealer. We empirically test our algorithm and compare the variants on problems from three scheduling domains: graph-coloring-type scheduling, simplified Mars Lander task scheduling, and airport runway scheduling. While we were only able to test on problems of small sizes, due to the limitation of currently available quantum annealing hardware, the empirical results show that results obtained from the quantum annealer can be used for more effective search node pruning and to improve node selection heuristics when compared to a standard classical approach.

We study the unrelated parallel machine scheduling problem with sequence and machine-dependent setup times and the objective of makespan minimization. Two exact decomposition-based methods are proposed based on logic-based Benders decomposition and branch and check. These approaches are hybrid models that make use of a mixed-integer programming (MIP) master problem and a specialized solver for travelling salesman subproblems. The master problem is used to assign jobs to machines, whereas the subproblems find optimal schedules on each machine given the master problem assignments. Computational results show that the decomposition models are able to find optimal solutions up to four orders of magnitude faster than the existing state of the art as well as solve problems six times larger than an existing MIP model. We further investigate the solution quality versus runtime trade-off for large problem instances for which the optimal solutions cannot be found and proved in a reasonable time. We demonstrate that the branch-and-check hybrid algorithm is able to produce better schedules in less time than the state-of-the-art metaheuristic, while also providing an optimality gap.

Partial-order plans (POPs) are attractive because of their least-commitment nature, which provides enhanced plan flexibility at execution time relative to sequential plans. Current research on automated plan generation focuses on producing sequential plans, despite the appeal of POPs. In this paper we examine POP generation by relaxing or modifying the action orderings of a sequential plan to optimize for plan criteria that promote flexibility. Our approach relies on a novel partial weighted MaxSAT encoding of a sequential plan that supports the minimization of deordering or reordering of actions. Using a similar technique, we further demonstrate how to remove redundant actions from the plan, and how to combine this criterion with the objective of maximizing a POP's flexibility. Our partial weighted MaxSAT encoding allows us to compute a POP from a sequential plan effectively. We compare the efficiency of our approach to previous methods for POP generation via sequential-plan relaxation. Our results show that while an existing heuristic approach consistently produces the optimal deordering of a sequential plan, our approach has greater flexibility when we consider reordering the actions in the plan while also providing a guarantee of optimality. We also investigate and confirm the accuracy of the standard flex metric typically used to predict the true flexibility of a POP as measured by the number of linearizations it represents.

In this paper we present the development of a novel multi-user human-robot interaction (HRI) system architecture to allow the social robot Tangy to autonomously plan, schedule and facilitate multi-user activities while considering the users' schedules. During scheduled activities, the robot is able to interact with a group of users by providing both group-based and individualized assistance based on the current state of the activity and the needs of the individual users engaged in the social interactions. Such planning and scheduling of daily activities of a social robot while reasoning about multiple user schedules has not yet been addressed in the literature. Herein, the HRI multi-user activities we consider are a series of Bingo games. System performance experiments presented in the paper validate the use of the proposed multiuser system architecture in: 1) planning and scheduling daily Bingo games for Tangy to facilitate while considering the individual schedules of the users, and 2) determining the appropriate behaviors of the robot with respect to individuals and groups of people while providing game reminders prior to a Bingo game starting and also while facilitating the game itself.

Dynamic scheduling problems consist of both challenging combinatorics, as found in classical scheduling problems, and stochastics due to uncertainty about the arrival times, resource requirements, and processing times of jobs. To address these two challenges, we investigate the integration of queueing theory and scheduling. The former reasons about long-run stochastic system characteristics, whereas the latter typically deals with short-term combinatorics. We investigate two simple problems to isolate the core differences and potential synergies between the two approaches: a two-machine dynamic flowshop and a flexible queueing network. We show for the first time that stability, a fundamental characteristic in queueing theory, can be applied to approaches that periodically solve combinatorial scheduling problems. We empirically demonstrate that for a dynamic flowshop, the use of combinatorial reasoning has little impact on schedule quality beyond queueing approaches. In contrast, for the more complicated flexible queueing network, a novel algorithm that combines long-term guidance from queueing theory with short-term combinatorial decision making outperforms all other tested approaches. To our knowledge, this is the first time that such a hybrid of queueing theory and scheduling techniques has been proposed and evaluated.

Abstracts of the invited speaker talks Modeling, Global Constraints, and Decomposition by J. Christopher Beck and Applications of Graph Search in Group Theory and Proteomics by Gene Cooperman, presented that the 2013 SoCS Symposium.

We address a dynamic repair shop scheduling problem in the context of military aircraft fleet management where the goal is to maintain a full complement of aircraft over the long-term. A number of flights, each with a requirement for a specific number and type of aircraft, are already scheduled over a long horizon. We need to assign aircraft to flights and schedule repair activities while considering the flights requirements, repair capacity, and aircraft failures. The number of aircraft awaiting repair dynamically changes over time due to failures and it is therefore necessary to rebuild the repair schedule online. To solve the problem, we view the dynamic repair shop as successive static repair scheduling sub-problems over shorter time periods. We propose a complete approach based on the logic-based Benders decomposition to solve the static sub-problems, and design different rescheduling policies to schedule the dynamic repair shop. Computational experiments demonstrate that the Benders model is able to find and prove optimal solutions on average four times faster than a mixed integer programming model. The rescheduling approach having both aspects of scheduling over a longer horizon and quickly adjusting the schedule increases aircraft available in the long term by 10% compared to the approaches having either one of the aspects alone.

We address an optimization problem that requires deciding the location of a set of facilities, the allocation of customers to those facilities under capacity constraints, and the allocation of customers to trucks at those facilities under truck travel-distance constraints. We present a hybrid approach that combines integer and constraint programming using logic-based Benders decomposition. Computational experiments demonstrate that the Benders model is able to find and prove optimal solutions up to three orders-of-magnitude faster than an existing integer programming approach; it also finds better feasible solutions in less time when compared with an existing tabu search algorithm.

Partial-order plans (POPs) have the capacity to compactly represent numerous distinct plan linearizations and as a consequence are inherently robust. We exploit this robustness to do effective execution monitoring. We characterize the conditions under which a POP remains viable as the regression of the goal through the structure of a POP. We then develop a method for POP execution monitoring via a structured policy, expressed as an ordered algebraic decision diagram. The policy encompasses both state evaluation and action selection, enabling an agent to seamlessly switch between POP linearizations to accommodate unexpected changes during execution. We demonstrate the effectiveness of our approach by comparing it empirically and analytically to a standard technique for execution monitoring of sequential plans. On standard benchmark planning domains, our approach is 2 to 17 times faster and up to 2.5 times more robust than comparable monitoring of a sequential plan. On POPs that have few ordering constraints among actions, our approach is significantly more robust, with the ability to continue executing in up to an exponential number of additional states. 1

Since their introduction, local search algorithms have consistently represented the state of the art in solution techniques for the classical job-shop scheduling problem. This dominance is despite the availability of powerful search and inference techniques for scheduling problems developed by the constraint programming community. In this paper, we introduce a simple hybrid algorithm for job-shop scheduling that leverages both the fast, broad search capabilities of modern tabu search algorithms and the scheduling-specific inference capabilities of constraint programming. The hybrid algorithm significantly improves the performance of a state-of-the-art tabu search algorithm for the job-shop problem and represents the first instance in which a constraint programming algorithm obtains performance competitive with the best local search algorithms. Furthermore, the variability in solution quality obtained by the hybrid is significantly lower than that of pure local search algorithms. Beyond performance demonstration, we perform a series of experiments that provide insights into the roles of the two component algorithms in the overall performance of the hybrid.

A facility with frontroom and backroom operations has the option of hiring specialized or cross-trained workers. Cross-trained workers can be switched between the two rooms depending on demand but are more expensive than specialized ones. Assuming stochastic customer arrival and service times, we seek a smallest-cost combination of cross-trained and specialized workers, together with a policy for switching the cross-trained workers between the rooms, which satisfies constraints on the expected customer waiting time and expected number of workers in the back room. A constraint programming approach using logic-based Benders' decomposition is presented. Experimental results demonstrate the strong performance of this approach across a wide variety of problem parameters. This paper provides one of the first links between queueing optimization problems and constraint programming.

In a facility with front room and back room operations, it is useful to switch workers between the rooms in order to cope with changing customer demand. Assuming stochastic customer arrival and service times, we seek a policy for switching workers such that the expected customer waiting time is minimized while the expected back room staffing is sufficient to perform all work. Three novel constraint programming models and several shaving procedures for these models are presented. Experimental results show that a model based on closed-form expressions together with a combination of shaving procedures is the most efficient. This model is able to find and prove optimal solutions for many problem instances within a reasonable run-time. Previously, the only available approach was a heuristic algorithm. Furthermore, a hybrid method combining the heuristic and the best constraint programming method is shown to perform as well as the heuristic in terms of solution quality over time, while achieving the same performance in terms of proving optimality as the pure constraint programming model. This is the first work of which we are aware that solves such queueing-based problems with constraint programming.

Solution-Guided Multi-Point Constructive Search (SGMPCS) is a novel constructive search technique that performs a series of resource-limited tree searches where each search begins either from an empty solution (as in randomized restart) or from a solution that has been encountered during the search. A small number of these "elite'' solutions is maintained during the search. We introduce the technique and perform three sets of experiments on the job shop scheduling problem. First, a systematic, fully crossed study of SGMPCS is carried out to evaluate the performance impact of various parameter settings. Second, we inquire into the diversity of the elite solution set, showing, contrary to expectations, that a less diverse set leads to stronger performance. Finally, we compare the best parameter setting of SGMPCS from the first two experiments to chronological backtracking, limited discrepancy search, randomized restart, and a sophisticated tabu search algorithm on a set of well-known benchmark problems. Results demonstrate that SGMPCS is significantly better than the other constructive techniques tested, though lags behind the tabu search.

Most classical scheduling formulations assume a fixed and known duration for each activity. In this paper, we weaken this assumption, requiring instead that each duration can be represented by an independent random variable with a known mean and variance. The best solutions are ones which have a high probability of achieving a good makespan. We first create a theoretical framework, formally showing how Monte Carlo simulation can be combined with deterministic scheduling algorithms to solve this problem. We propose an associated deterministic scheduling problem whose solution is proved, under certain conditions, to be a lower bound for the probabilistic problem. We then propose and investigate a number of techniques for solving such problems based on combinations of Monte Carlo simulation, solutions to the associated deterministic problem, and either constraint programming or tabu search. Our empirical results demonstrate that a combination of the use of the associated deterministic problem and Monte Carlo simulation results in algorithms that scale best both in terms of problem size and uncertainty. Further experiments point to the correlation between the quality of the deterministic solution and the quality of the probabilistic solution as a major factor responsible for this success.

This paper addresses the question of allocating computational resources among a set of algorithms to achieve the best performance on scheduling problems. Our primary motivation in addressing this problem is to reduce the expertise needed to apply optimization technology. Therefore, we investigate algorithm control techniques that make decisions based only on observations of the improvement in solution quality achieved by each algorithm. We call our approach “low knowledge” since it does not rely on complex prediction models, either of the problem domain or of algorithm behavior. We show that a low-knowledge approach results in a system that achieves significantly better performance than all of the pure algorithms without requiring additional human expertise. Furthermore the low-knowledge approach achieves performance equivalent to a perfect high-knowledge classification approach.