We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of relocation problem must be satisfied. We introduce a general problem formulation that encompasses known types of item relocation problems such as multi-agent path finding (MAPF) and token swapping (TSWAP). In this formulation we express two new types of relocation problems derived from token swapping that we call token rotation (TROT) and token permutation (TPERM). Our solving approach for item relocation combines satisfiability modulo theory (SMT) with conflict-based search (CBS). We interpret CBS in the SMT framework where we start with the basic model and refine the model with a collision resolution constraint whenever a collision between items occurs in the current solution. The key difference between the standard CBS and our SMT-based modification of CBS (SMT-CBS) is that the standard CBS branches the search to resolve the collision while in SMT-CBS we iteratively add a single disjunctive collision resolution constraint. Experimental evaluation on several benchmarks shows that the SMT-CBS algorithm significantly outperforms the standard CBS. We also compared SMT-CBS with a modification of the SAT-based MDD-SAT solver that uses an eager modeling of item relocation in which all potential collisions are eliminated by constrains in advance. Experiments show that lazy approach in SMT-CBS produce fewer constraint than MDD-SAT and also achieves faster solving run-times.
Construction of @math relies on time expansion of underlying graph @math @cite_9 . Having @math , the basic variant of time expansion determines the maximum number of time steps @math (also refered to as a makespan ) such that every possible solution of the given MAPF with the sum-of-costs less than or equal to @math fits within @math timestep (that is, no agent is outside its goal vertex after @math timestep if the sum-of-costs @math is not to be exceeded).
@cite_9
2019133545 2418875759 2149345630 2021912525
We consider one of the basic, well-studied problems of scheduling theory, that of nonpreemptively scheduling n independent tasks on m identical, parallel processors with the objective of minimizing the “makespan,” i.e., the total timespan required to process all the given tasks. Because this problem is @math -complete and apparently intractable in general, much effort has been directed toward devising fast algorithms which find near-optimal schedules. The well-known LPT (Largest Processing Time first) algorithm always finds a schedule having makespan within @math of the minimum possible makespan, and this is the best such bound satisfied by any previously published fast algorithm. We describe a comparably fast algorithm, based on techniques from “bin-packing,” which we prove satisfies a bound of 1.220. On the basis of exact upper bounds determined for each @math , we conjecture that the best possible general bound for our algorithm is actually @math . Makespan scheduling on identical machines is one of the most basic and fundamental packing problems studied in the discrete optimization literature. It asks for an assignment of @math jobs to a set of @math identical machines that minimizes the makespan. The problem is strongly NP-hard, and thus we do not expect a @math -approximation algorithm with a running time that depends polynomially on @math . Furthermore, [3] recently showed that a running time of @math for any @math would imply that the Exponential Time Hypothesis (ETH) fails. A long sequence of algorithms have been developed that try to obtain low dependencies on @math , the better of which achieves a running time of @math [11]. In this paper we obtain an algorithm with a running time of @math , which is tight under ETH up to logarithmic factors on the exponent. Our main technical contribution is a new structural result on the configuration-IP. More precisely, we show the existence of a highly symmetric and sparse optimal solution, in which all but a constant number of machines are assigned a configuration with small support. This structure can then be exploited by integer programming techniques and enumeration. We believe that our structural result is of independent interest and should find applications to other settings. In particular, we show how the structure can be applied to the minimum makespan problem on related machines and to a larger class of objective functions on parallel machines. For all these cases we obtain an efficient PTAS with running time @math . In this paper, we consider a popular randomized broadcasting algorithm called push-algorithm defined as follows. Initially, one vertex of a graph G=(V,E) owns a piece of information which is spread iteratively to all other vertices: in each timestep t=1,2,… every informed vertex chooses a neighbor uniformly at random and informs it. The question is how many time steps are required until all vertices become informed (with high probability). For various graph classes, involved methods have been developed in order to show an upper bound of @math on the runtime of the push-algorithm, where N is the number of vertices and @math denotes the diameter of G. However, no asymptotically tight bound on the runtime based on the mixing time of random walks has been established. In this work we fill this gap by deriving an upper bound of @math , where @math denotes the mixing time of a certain random walk on G. After that we prove upper bounds that are based on certain edge expansion properties of G. However, for hypercubes neither the bound based on the mixing time nor the bounds based on edge expansion properties are tight. That is why we develop a general way to combine these two approaches by which we can deduce that the runtime of the push-algorithm is Θ(log N) on every Hamming graph. Given a finite graph @math , a vertex of the lamplighter graph @math consists of a zero-one labeling of the vertices of @math , and a marked vertex of @math . For transitive @math we show that, up to constants, the relaxation time for simple random walk in @math is the maximal hitting time for simple random walk in @math , while the mixing time in total variation on @math is the expected cover time on @math . The mixing time in the uniform metric on @math admits a sharp threshold, and equals @math multiplied by the relaxation time on @math , up to a factor of @math . For @math , the lamplighter group over the discrete two dimensional torus, the relaxation time is of order @math , the total variation mixing time is of order @math , and the uniform mixing time is of order @math . For @math when @math , the relaxation time is of order @math , the total variation mixing time is of order @math , and the uniform mixing time is of order @math . In particular, these three quantities are of different orders of magnitude.