We consider the well-studied game-theoretic version of machine scheduling in which jobs correspond to self-interested users and machines correspond to resources. Here each user chooses a machine trying to minimize her own cost, and such selfish behavior typically results in some equilibrium which is not globally optimal: An equilibrium is an allocation where no user can reduce her own cost by moving to another machine, which in general need not minimize the makespan, i.e., the maximum load over the machines. We provide tight bounds on two well-studied notions in algorithmic game theory, namely, the price of anarchy and the strong price of anarchy on machine scheduling setting which lies in between the related and the unrelated machine case. Both notions study the social cost (makespan) of the worst equilibrium compared to the optimum, with the strong price of anarchy restricting to a stronger form of equilibria. Our results extend a prior study comparing the price of anarchy to the strong price of anarchy for two related machines (Epstein, Acta Informatica 2010), thus providing further insights on the relation between these concepts. Our exact bounds give a qualitative and quantitative comparison between the two models. The bounds also show that the setting is indeed easier than the two unrelated machines: In the latter, the strong price of anarchy is @math , while in ours it is strictly smaller.
The price of anarchy is for , and grows otherwise. Specifically, @math and @math @cite_16 , while @math @cite_14 . The case of a is of particular interest. For and machines, @math and @math @cite_15 , respectively. For machines, exact bounds as a function of the @math on both @math and @math are given in @cite_19 . The price of anarchy bounds are similar to related machines: @math and @math @cite_0 , where the analysis of @math is also in @cite_17 . The price of anarchy and the strong price of anarchy for pure equilibria are and bounded by a : @math @cite_12 , where the upper and lower bounds on @math can be deduced from @cite_5 and @cite_9 , respectively. Finally, @math @cite_6 @cite_16 @cite_4 . For further results on other problems and variants of these equilibrium concepts we refer the reader to e.g. @cite_8 @cite_20 @cite_1 @cite_10 and references therein.
@cite_14 @cite_4 @cite_8 @cite_10 @cite_9 @cite_1 @cite_6 @cite_0 @cite_19 @cite_5 @cite_15 @cite_16 @cite_20 @cite_12 @cite_17
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The price of anarchy, defined as the ratio of the worst-case objective function value of a Nash equilibrium of a game and that of an optimal outcome, quantifies the inefficiency of selfish behavior. Remarkably good bounds on this measure are known for a wide range of application domains. However, such bounds are meaningful only if a game's participants successfully reach a Nash equilibrium. This drawback motivates inefficiency bounds that apply more generally to weaker notions of equilibria, such as mixed Nash equilibria and correlated equilibria, and to sequences of outcomes generated by natural experimentation strategies, such as successive best responses and simultaneous regret-minimization. We establish a general and fundamental connection between the price of anarchy and its seemingly more general relatives. First, we identify a “canonical sufficient condition” for an upper bound on the price of anarchy of pure Nash equilibria, which we call a smoothness argument. Second, we prove an “extension theorem”: every bound on the price of anarchy that is derived via a smoothness argument extends automatically, with no quantitative degradation in the bound, to mixed Nash equilibria, correlated equilibria, and the average objective function value of every outcome sequence generated by no-regret learners. Smoothness arguments also have automatic implications for the inefficiency of approximate equilibria, for bicriteria bounds, and, under additional assumptions, for polynomial-length best-response sequences. Third, we prove that in congestion games, smoothness arguments are “complete” in a proof-theoretic sense: despite their automatic generality, they are guaranteed to produce optimal worst-case upper bounds on the price of anarchy. The price of anarchy (POA) is a worst-case measure of the inefficiency of selfish behavior, defined as the ratio of the objective function value of a worst Nash equilibrium of a game and that of an optimal outcome. This measure implicitly assumes that players successfully reach some Nash equilibrium. This drawback motivates the search for inefficiency bounds that apply more generally to weaker notions of equilibria, such as mixed Nash and correlated equilibria; or to sequences of outcomes generated by natural experimentation strategies, such as successive best responses or simultaneous regret-minimization. We prove a general and fundamental connection between the price of anarchy and its seemingly stronger relatives in classes of games with a sum objective. First, we identify a "canonical sufficient condition" for an upper bound of the POA for pure Nash equilibria, which we call a smoothness argument. Second, we show that every bound derived via a smoothness argument extends automatically, with no quantitative degradation in the bound, to mixed Nash equilibria, correlated equilibria, and the average objective function value of regret-minimizing players (or "price of total anarchy"). Smoothness arguments also have automatic implications for the inefficiency of approximate and Bayesian-Nash equilibria and, under mild additional assumptions, for bicriteria bounds and for polynomial-length best-response sequences. We also identify classes of games --- most notably, congestion games with cost functions restricted to an arbitrary fixed set --- that are tight, in the sense that smoothness arguments are guaranteed to produce an optimal worst-case upper bound on the POA, even for the smallest set of interest (pure Nash equilibria). Byproducts of our proof of this result include the first tight bounds on the POA in congestion games with non-polynomial cost functions, and the first structural characterization of atomic congestion games that are universal worst-case examples for the POA. In sponsored search auctions, advertisers compete for a number of available advertisement slots of different quality. The auctioneer decides the allocation of advertisers to slots using bids provided by them. Since the advertisers may act strategically and submit their bids in order to maximize their individual objectives, such an auction naturally defines a strategic game among the advertisers. In order to quantify the efficiency of outcomes in generalized second price auctions, we study the corresponding games and present new bounds on their price of anarchy, improving the recent results of Paes Leme and Tardos [16] and Lucier and Paes Leme [13]. For the full information setting, we prove a surprisingly low upper bound of 1.282 on the price of anarchy over pure Nash equilibria. Given the existing lower bounds, this bound denotes that the number of advertisers has almost no impact on the price of anarchy. The proof exploits the equilibrium conditions developed in [16] and follows by a detailed reasoning about the structure of equilibria and a novel relation of the price of anarchy to the objective value of a compact mathematical program. For more general equilibrium classes (i.e., mixed Nash, correlated, and coarse correlated equilibria), we present an upper bound of 2.310 on the price of anarchy. We also consider the setting where advertisers have incomplete information about their competitors and prove a price of anarchy upper bound of 3.037 over Bayes-Nash equilibria. In order to obtain the last two bounds, we adapt techniques of Lucier and Paes Leme [13] and significantly extend them with new arguments. In situations without central coordination, the price of anarchy relates the quality of any Nash equilibrium to the quality of a global optimum. Instead of assuming that all players choose their actions simultaneously, we consider games where players choose their actions sequentially. The sequential price of anarchy, recently introduced by Paes Leme, Syrgkanis, and Tardos, relates the quality of any subgame perfect equilibrium to the quality of a global optimum. The effect of sequential decision making on the quality of equilibria, depends on the specific game under consideration. We analyze the sequential price of anarchy for atomic congestion games with affine cost functions. We derive several lower and upper bounds, showing that sequential decisions mitigate the worst case outcomes known for the classical price of anarchy. Next to tight bounds on the sequential price of anarchy, a methodological contribution of our work is, among other things, a “factor revealing” linear programming approach we use to solve the case of three players. We study the price of anarchy and the structure of equilibria in network creation games. A network creation game (first defined and studied by [4]) is played by n players 1, 2, . . . , n , each identified with a vertex of a graph (network), where the strategy of player i, i = 1, . . . , n, is to build some edges adjacent to i. The cost of building an edge is α > 0, a fixed parameter of the game. The goal of every player is to minimize its creation cost plus its usage cost. The creation cost of player i is α times the number of built edges. In the SumGame (the original variant of [4]) the usage cost of player i is the sum of distances from i to every node of the resulting graph. In the MaxGame (variant defined and studied by [3]) the usage cost is the eccentricity of i in the resulting graph of the game. In this paper we improve previously known bounds on the price of anarchy of the game (of both variants) for various ranges of α, and give new insights into the structure of equilibria for various values of α. The two main results of the paper show that for α > 273 · n all equilibria in SumGame are trees and thus the price of anarchy is constant, and that for α > 129 all equilibria in MaxGame are trees and the price of anarchy is constant. For SumGame this (almost) answers one of the basic open problems in the field – is price of anarchy of the network creation game constant for all values of α? – in an affirmative way, up to a tiny range of α. We study the impact of collusion in network games with splittable flow and focus on the well established price of anarchy as a measure of this impact. We first investigate symmetric load balancing games and show that the price of anarchy is at most m, where m denotes the number of coalitions. For general networks, we present an instance showing that the price of anarchy is unbounded, even in the case of two coalitions. If latencies are restricted to polynomials with nonnegative coefficients and bounded degree, we prove upper bounds on the price of anarchy for general networks, which improve upon the current best ones except for affine latencies. In light of the negative results even for two coalitions, we analyze the effectiveness of Stackelberg strategies as a means to improve the quality of Nash equilibria. In this setting, an α fraction of the entire demand is first routed centrally by a Stackelberg leader according to a predefined Stackelberg strategy and the remaining demand is then routed selfishly by the coalitions (followers). For a single coalitional follower and parallel arcs, we develop an efficiently computable Stackelberg strategy that reduces the price of anarchy to one. For general networks and a single coalitional follower, we show that a simple strategy, called SCALE, reduces the price of anarchy to 1+α. Finally, we investigate SCALE for multiple coalitional followers, general networks, and affine latencies. We present the first known upper bound on the price of anarchy in this case. Our bound smoothly varies between 1.5 for α=0 and full efficiency for α=1. The Generalized Second Price Auction has been the main mechanism used by search companies to auction positions for advertisements on search pages. In this paper we study the social welfare of the Nash equilibria of this game in various models. In the full information setting, socially optimal Nash equilibria are known to exist (i.e., the Price of Stability is 1). This paper is the first to prove bounds on the price of anarchy, and to give any bounds in the Bayesian setting. Our main result is to show that the price of anarchy is small assuming that all bidders play un-dominated strategies. In the full information setting we prove a bound of 1.618 for the price of anarchy for pure Nash equilibria, and a bound of 4 for mixed Nash equilibria. We also prove a bound of 8 for the price of anarchy in the Bayesian setting, when valuations are drawn independently, and the valuation is known only to the bidder and only the distributions used are common knowledge. Our proof exhibits a combinatorial structure of Nash equilibria and uses this structure to bound the price of anarchy. While establishing the structure is simple in the case of pure and mixed Nash equilibria, the extension to the Bayesian setting requires the use of novel combinatorial techniques that can be of independent interest. We study network design games where @math self-interested agents have to form a network by purchasing links from a given set of edges. We consider Shapley cost sharing mechanisms that split the cost of an edge in a fair manner among the agents using the edge. It is well known that the price of anarchy of these games is as high as @math . Another line of research has focused on evaluating the price of stability, i.e., the cost of the best Nash equilibrium relative to the social optimum. In this paper we investigate to which extent coordination among agents can improve the quality of solutions. We resort to the concept of strong Nash equilibria, which were introduced by Aumann and are resilient to deviations by coalitions of agents. We analyze the price of anarchy of strong Nash equilibria and develop lower and upper bounds for unweighted and weighted games in both directed and undirected graphs. These bounds are tight or nearly tight for many scenarios. It shows that, by using coordination, the price of anarchy drops from linear to logarithmic bounds. We complement these results by also proving the first superconstant lower bound on the price of stability of standard equilibria (without coordination) in undirected graphs. More specifically, we show a lower bound of @math for weighted games, where @math is the total weight of all the agents. This almost matches the known upper bound of @math . Our results imply that, for most settings, the worst-case performance ratios of strong coordinated equilibria are essentially always as good as the performance ratios of the best equilibria achievable without coordination. These settings include unweighted games in directed graphs as well as weighted games in both directed and undirected graphs. In this paper we characterize the “price of anarchy”, i.e., the inefficiency between user and system optimal solutions, when costs are non-separable, asymmetric and nonlinear, generalizing earlier work that has addressed “the price of anarchy” under separable costs. This generalization models traffic equilibria, competitive multi-period pricing and competitive supply chains. The bounds established in this paper are tight and explicitly account for the degree of asymmetry and nonlinearity of the cost function. We introduce an alternate proof method for providing bounds that uses ideas from semidefinite optimization. Finally, in the context of multi-period pricing our analysis establishes that user and system optimal solutions coincide. We propose weakening the assumption made when studying the price of anarchy: Rather than assume that self-interested players will play according to a Nash equilibrium (which may even be computationally hard to find), we assume only that selfish players play so as to minimize their own regret. Regret minimization can be done via simple, efficient algorithms even in many settings where the number of action choices for each player is exponential in the natural parameters of the problem. We prove that despite our weakened assumptions, in several broad classes of games, this "price of total anarchy" matches the Nash price of anarchy, even though play may never converge to Nash equilibrium. In contrast to the price of anarchy and the recently introduced price of sinking, which require all players to behave in a prescribed manner, we show that the price of total anarchy is in many cases resilient to the presence of Byzantine players, about whom we make no assumptions. Finally, because the price of total anarchy is an upper bound on the price of anarchy even in mixed strategies, for some games our results yield as corollaries previously unknown bounds on the price of anarchy in mixed strategies. Strong Nash equilibria and Pareto-optimal Nash equilibria are natural and important strengthenings of the Nash equilibrium concept. We study these stronger notions of equilibrium in congestion games, focusing on the relationships between the price of anarchy for these equilibria and that for standard Nash equilibria (which is well understood). For symmetric congestion games with polynomial or exponential latency functions, we show that the price of anarchy for strong and Pareto-optimal equilibria is much smaller than the standard price of anarchy. On the other hand, for asymmetric congestion games with polynomial latencies the strong and Pareto prices of anarchy are essentially as large as the standard price of anarchy; while for asymmetric games with exponential latencies the Pareto and standard prices of anarchy are the same but the strong price of anarchy is substantially smaller. Finally, in the special case of linear latencies, we show that in asymmetric games the strong and Pareto prices of anarchy coincide exactly with the known value @math for standard Nash, but are strictly smaller for symmetric games. We characterize the Price of Anarchy (POA) in weighted congestion games, as a function of the allowable resource cost functions. Our results provide as thorough an understanding of this quantity as is already known for nonatomic and unweighted congestion games, and take the form of universal (cost function-independent) worst-case examples. One noteworthy by-product of our proofs is the fact that weighted congestion games are “tight,” which implies that the worst-case price of anarchy with respect to pure Nash equilibria, mixed Nash equilibria, correlated equilibria, and coarse correlated equilibria are always equal (under mild conditions on the allowable cost functions). Another is the fact that, like nonatomic but unlike atomic (unweighted) congestion games, weighted congestion games with trivial structure already realize the worst-case POA, at least for polynomial cost functions. We also prove a new result about unweighted congestion games: the worst-case price of anarchy in symmetric games is as large as in their more general asymmetric counterparts. We characterize the price of anarchy in weighted congestion games, as a function of the allowable resource cost functions. Our results provide as thorough an understanding of this quantity as is already known for nonatomic and unweighted congestion games, and take the form of universal (cost function-independent) worst-case examples. One noteworthy byproduct of our proofs is the fact that weighted congestion games are "tight", which implies that the worst-case price of anarchy with respect to pure Nash, mixed Nash, correlated, and coarse correlated equilibria are always equal (under mild conditions on the allowable cost functions). Another is the fact that, like nonatomic but unlike atomic (unweighted) congestion games, weighted congestion games with trivial structure already realize the worst-case POA, at least for polynomial cost functions. We also prove a new result about unweighted congestion games: the worst-case price of anarchy in symmetric games is, as the number of players goes to infinity, as large as in their more general asymmetric counterparts. We analyze the price of anarchy (POA) in a simple and practical non-truthful combinatorial auction when players have subadditive valuations for goods. We study the mechanism that sells every good in parallel with separate second-price auctions. We first prove that under a standard "no overbidding" assumption, for every subadditive valuation profile, every pure Nash equilibrium has welfare at least 50 of optimal --- i.e., the POA is at most 2. For the incomplete information setting, we prove that the POA with respect to Bayes-Nash equilibria is strictly larger than 2 --- an unusual separation from the full-information model --- and is at most 2 ln m, where m is the number of goods. We study a network creation game recently proposed by Fabrikant, Luthra, Maneva, Papadimitriou and Shenker. In this game, each player (vertex) can create links (edges) to other players at a cost of α per edge. The goal of every player is to minimize the sum consisting of (a) the cost of the links he has created and (b) the sum of the distances to all other players. conjectured that there exists a constant A such that, for any α > A, all non-transient Nash equilibria graphs are trees. They showed that if a Nash equilibrium is a tree, the price of anarchy is constant. In this paper we disprove the tree conjecture. More precisely, we show that for any positive integer n 0 , there exists a graph built by n ≥ n 0 players which contains cycles and forms a non-transient Nash equilibrium, for any α with 1 < α ≤ √n 2. Our construction makes use of some interesting results on finite affine planes. On the other hand we show that, for α ≥ 12n[log n], every Nash equilibrium forms a tree.Without relying on the tree conjecture, proved an upper bound on the price of anarchy of O(√α), where α ∈ [2, n2]. We improve this bound. Specifically, we derive a constant upper bound for α ∈ O(√n) and for α ≥ 12n[log n]. For the intermediate values we derive an improved bound of O(1 + (min α2 n, n2 α )1 3).Additionally, we develop characterizations of Nash equilibria and extend our results to a weighted network creation game as well as to scenarios with cost sharing. We consider the price of anarchy of pure Nash equilibria in congestion games with linear latency functions. For asymmetric games, the price of anarchy of maximum social cost is Θ(√N), where N is the number of players. For all other cases of symmetric or asymmetric games and for both maximum and average social cost, the price of anarchy is 5 2. We extend the results to latency functions that are polynomials of bounded degree. We also extend some of the results to mixed Nash equilibria. We study bottleneck congestion games where the social cost is determined by the worst congestion on any resource. In the literature, bottleneck games assume player utility costs determined by the worst congested resource in their strategy. However, the Nash equilibria of such games are inefficient since the price of anarchy can be very high and proportional to the number of resources. In order to obtain smaller price of anarchy we introduce exponential bottleneck games, where the utility costs of the players are exponential functions of their congestions. In particular, the delay function for any resource r is MCr, where Cr denotes the number of players that use r, and M is an integer constant. We find that exponential bottleneck games are very efficient and give the following bound on the price of anarchy: O(log |R|), where R is the set of resources. This price of anarchy is tight, since we demonstrate a game with price of anarchy Ω(log |R|). We obtain our tight bounds by using two novel proof techniques: transformation, which we use to convert arbitrary games to simpler games, and expansion, which we use to bound the price of anarchy in a simpler game. We define smooth games of incomplete information. We prove an "extension theorem" for such games: price of anarchy bounds for pure Nash equilibria for all induced full-information games extend automatically, without quantitative degradation, to all mixed-strategy Bayes-Nash equilibria with respect to a product prior distribution over players' preferences. We also note that, for Bayes-Nash equilibria in games with correlated player preferences, there is no general extension theorem for smooth games. We give several applications of our definition and extension theorem. First, we show that many games of incomplete information for which the price of anarchy has been studied are smooth in our sense. Thus our extension theorem unifies much of the known work on the price of anarchy in games of incomplete information. Second, we use our extension theorem to prove new bounds on the price of anarchy of Bayes-Nash equilibria in congestion games with incomplete information. We resolve the worst-case price of anarchy (POA) of atomic splittable congestion games. Prior to this work, no tight bounds on the POA in such games were known, even for the simplest non-trivial special case of affine cost functions. We make two distinct contributions. On the upper-bound side, we define the framework of "local smoothness", which refines the standard smoothness framework for games with convex strategy sets. While standard smoothness arguments cannot establish tight bounds on the POA in atomic splittable congestion games, we prove that local smoothness arguments can. Further, we prove that every POA bound derived via local smoothness applies automatically to every correlated equilibrium of the game. Unlike standard smoothness arguments, bounds proved using local smoothness do not always apply to the coarse correlated equilibria of the game. Our second contribution is a very general lower bound: for every set L that satisfies mild technical conditions, the worst-case POA of pure Nash equilibria in atomic splittable congestion games with cost functions in L is exactly the smallest upper bound provable using local smoothness arguments. In particular, the worst-case POA of pure Nash equilibria, mixed Nash equilibria, and correlated equilibria coincide in such games. We consider the classical machine scheduling, where n jobs need to be scheduled on m machines, with the goal of minimizing the makespan, i.e., the maximum load of any machine in the schedule. We study inefficiency of schedules that are obtained when jobs arrive sequentially one by one, and choose themselves the machine on which they will be scheduled. Every job is only interested to be on a machine with a small load (and does not care about the loads of other machines). We measure the inefficiency of a schedule as the ratio of the makespan obtained in the worst-case equilibrium schedule, and of the optimum makespan. This ratio is known as the sequential price of anarchy. We also introduce alternative inefficiency measures, which allow for a favorable choice of the order in which the jobs make their decisions. We first disprove the conjecture of Hassin and Yovel (OR Letters, 2015) claiming that for unrelated machines, i.e., for the setting where every job can have a different processing time on every machine, the sequential price of anarchy for m = 2 machines is at most 3. We provide an answer for the setting with m = 2 and show that the sequential price of anarchy grows at least linearly with the number of players. Furthermore, we show that for a certain order of the jobs, the resulting makespan is at most linearly larger than the optimum makespan. Furthermore, we show that if an authority can change the order of the jobs adaptively to the decisions made by the jobs so far (but cannot influence the decisions of the jobs), then there exists an adaptive ordering in which the jobs end up in an optimum schedule. To the end we consider identical machines, i.e., the setting where every job has the same processing time on every machine, and provide matching lower bound examples to the existing upper bounds on the sequential price of anarchy.