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370
Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths
, 2005
"... This paper focuses on the collisionfree coordination of multiple robots with kinodynamic constraints along specified paths. We present an approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize t ..."
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Cited by 50 (9 self)
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This paper focuses on the collisionfree coordination of multiple robots with kinodynamic constraints along specified paths. We present an approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize the completion time. The approach, which combines techniques from optimal control and mathematical programming, consists of identifying collision segments along each robot's path, and then optimizing the robots' velocities along the collision and collisionfree segments. First, for each path segment for each robot, the minimum and maximum possible traversal times that satisfy the dynamics constraints are computed by solving the corresponding twopoint boundary value problems. The collision avoidance constraints for pairs of robots can then be combined to formulate a mixed integer nonlinear programming (MINLP) problem. Since this nonconvex MINLP model is difficult to solve, we describe two related mixed integer linear programming (MILP) formulations, which provide schedules that give lower and upper bounds on the optimum; the upper bound schedule is designed to provide continuous velocity trajectories that are feasible. The approach is illustrated with coordination of multiple robots, modeled as double integrators subject to velocity and acceleration constraints. An application to coordination of nonholonomic carlike robots is described, along with implementation results for 12 robots.
Allocating Bandwidth for Bursty Connections
 SIAM J. Comput
, 1997
"... Abstract. In this paper, we undertake the first study of statistical multiplexing from the perspective of approximation algorithms. The basic issue underlying statistical multiplexing is the following: in highspeed networks, individual connections (i.e., communication sessions) are very bursty, wit ..."
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Cited by 44 (0 self)
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Abstract. In this paper, we undertake the first study of statistical multiplexing from the perspective of approximation algorithms. The basic issue underlying statistical multiplexing is the following: in highspeed networks, individual connections (i.e., communication sessions) are very bursty, with transmission rates that vary greatly over time. As such, the problem of packing multiple connections together on a link becomes more subtle than in the case when each connection is assumed to have a fixed demand. We consider one of the most commonly studied models in this domain: that of two communicating nodes connected by a set of parallel edges, where the rate of each connection between them is a random variable. We consider three related problems: (1) stochastic load balancing, (2) stochastic binpacking, and (3) stochastic knapsack. In the first problem the number of links is given and we want to minimize the expected value of the maximum load. In the other two problems the link capacity and an allowed overflow probability p are given, and the objective is to assign connections to links, so that the probability that the load of a link exceeds the link capacity is at most p. In binpacking we need to assign each connection to a link using as few links as possible. In the knapsack problem each connection has a value, and we have only one link. The problem is to accept as many
A Comparison Study of Static Mapping Heuristics for a Class of Metatasks on Heterogeneous Computing Systems
, 1999
"... Heterogeneous computing (HC) environments are well suited to meet the computational demands of large, diverse groups of tasks (i.e., a metatask). The problem of mapping (defined as matching and scheduling) these tasks onto the machines of an HC environment has been shown, in general, to be NPcompl ..."
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Cited by 44 (9 self)
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Heterogeneous computing (HC) environments are well suited to meet the computational demands of large, diverse groups of tasks (i.e., a metatask). The problem of mapping (defined as matching and scheduling) these tasks onto the machines of an HC environment has been shown, in general, to be NPcomplete, requiring the development of heuristic techniques. Selecting the best heuristic to use in a given environment, however, remains a difficult problem, because comparisons are often clouded by different underlying assumptions in the original studies of each heuristic. Therefore, a collection of eleven heuristics from the literature has been selected, implemented, and analyzed under one set of common assumptions. The eleven heuristics examined are Opportunistic Load Balancing, UserDirected Assignment, Fast Greedy, Minmin, Maxmin, Greedy, Genetic Algorithm, Simulated Annealing, Genetic Simulated Annealing, Tabu, and A*. This study provides one even basis for comparison and insights into c...
Rescheduling manufacturing systems: A framework of strategies, policies, and methods
 Journal of Scheduling
, 2003
"... Manymanufacturing facilities generate and update production schedules, which are plans that state when certain controllable activities (e.g., processing of jobs byresources) should take place. Production schedules help managers and supervisors coordinate activities to increase productivityand reduce ..."
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Cited by 37 (4 self)
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Manymanufacturing facilities generate and update production schedules, which are plans that state when certain controllable activities (e.g., processing of jobs byresources) should take place. Production schedules help managers and supervisors coordinate activities to increase productivityand reduce operating costs. Because a manufacturing system is dynamic and unexpected events occur, rescheduling is necessary to update a production schedule when the state of the manufacturing system makes it infeasible. Rescheduling updates an existing production schedule in response to disruptions or other changes. Though manystudies discuss rescheduling, there are no standard definitions or classification of the strategies, policies, and methods presented in the rescheduling literature. This paper presents definitions appropriate for most applications of rescheduling manufacturing systems and describes a framework for understanding rescheduling strategies, policies, and methods. This framework is based on a wide varietyof experimental and practical approaches that have been described in the rescheduling literature. The paper also discusses studies that show how rescheduling affects the performance of a manufacturing system, and it concludes with a discussion of how understanding rescheduling can bring closer some aspects of scheduling theory and practice. KEY WORDS: rescheduling; predictivereactive scheduling; dynamic scheduling 1.
Planning the Project Management Way: Efficient Planning by Effective Integration of Causal and Resource Reasoning in RealPlan
 Artificial Intelligence
, 2000
"... In most realworld reasoning problems, planning and scheduling phases are loosely coupled. For example, in project planning, the user comes up with a task list and schedules it with a scheduling tool like Microsoft Project. One can view automated planning in a similar way in which there is an action ..."
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Cited by 34 (9 self)
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In most realworld reasoning problems, planning and scheduling phases are loosely coupled. For example, in project planning, the user comes up with a task list and schedules it with a scheduling tool like Microsoft Project. One can view automated planning in a similar way in which there is an action selection phase where actions are selected and ordered to reach the desired goals, and a resource allocation phase where enough resources are assigned to ensure the successful execution of the chosen actions. On the other hand, most existing automated planners studied in Artificial Intelligence do not exploit this loosecoupling and perform both action selection and resource assignment employing the same algorithm. The current work shows that the above strategy severely curtails the scaleup potential of existing state of the art planners which can be overcome by leveraging the loose coupling. Specifically, a novel planning framework called RealPlan is developed in which resource allocatio...
An edge in time saves nine: LP rounding approximation algorithms for stochastic network design
 in FOCS, 2004
"... Realworld networks often need to be designed under uncertainty, with only partial information and predictions of demand available at the outset of the design process. The field of stochastic optimization deals with such problems where the forecasts are specified in terms of probability distribution ..."
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Cited by 33 (9 self)
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Realworld networks often need to be designed under uncertainty, with only partial information and predictions of demand available at the outset of the design process. The field of stochastic optimization deals with such problems where the forecasts are specified in terms of probability distributions of future data. In this paper, we broaden the set of models as well as the techniques being considered for approximating stochastic optimization problems. For example, we look at stochastic models where the cost of the elements is correlated to the set of realized demands, and riskaverse models where upper bounds are placed on the amount spent in each of the stages. These generalized models require new techniques, and our solutions are based on a novel combination of the primaldual method truncated based on optimal LP relaxation values, followed by a treerounding stage. We use these to give constantfactor approximation algorithms for the stochastic Steiner tree and single sink network design problems in these generalized models. 1.
Stochastic Load Balancing and Related Problems
 In FOCS
, 1999
"... We study the problems of makespan minimization (load balancing), knapsack, and bin packing when the jobs have stochastic processing requirements or sizes. If the jobs are all Poisson, we present a two approximation for the first problem using Graham's rule, and observe that polynomial time approxima ..."
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Cited by 32 (4 self)
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We study the problems of makespan minimization (load balancing), knapsack, and bin packing when the jobs have stochastic processing requirements or sizes. If the jobs are all Poisson, we present a two approximation for the first problem using Graham's rule, and observe that polynomial time approximation schemes can be obtained for the last two problems. If the jobs are all exponential, we present polynomial time approximation schemes for all three problems. We also obtain quasipolynomial time approximation schemes for the last two problems if the jobs are Bernoulli variables. 1 Introduction In traditional scheduling problems, each job has a known deterministic size and duration. There are cases, however, where the exact size of a job is not known at the time when a scheduling decision needs to be made; all that is known is a probability distribution on the size of the job. Given a schedule, the value of the objective function itself becomes a random variable. The goal then is to find...
A simple and effective iterated greedy algorithm for the permutation flowshop scheduling problem
 European Journal of Operational Research
, 2006
"... Over the last decade many metaheuristics have been applied to the flowshop scheduling problem, ranging from Simulated Annealing or Tabu Search to complex hybrid techniques. Some of these methods provide excellent effectiveness and efficiency at the expense of being utterly complicated. In fact, seve ..."
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Cited by 30 (8 self)
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Over the last decade many metaheuristics have been applied to the flowshop scheduling problem, ranging from Simulated Annealing or Tabu Search to complex hybrid techniques. Some of these methods provide excellent effectiveness and efficiency at the expense of being utterly complicated. In fact, several published methods require substantial implementation efforts, exploit problem specific speedup techniques that cannot be applied to slight variations of the original problem, and often reimplementations of these methods by other researchers produce results that are quite different from the original ones. In this work we present a new iterated greedy algorithm that applies two phases iteratively, named destruction, were some jobs are eliminated from the incumbent solution, and construction, where the eliminated jobs are reinserted into the sequence using the well known NEH construction £Corresponding author 1 heuristic. Optionally, a local search can be applied after the construction phase. Our iterated greedy algorithm is both very simple to implement and, as shown by experimental results, highly effective when compared to stateoftheart methods.
Contrasting Structured and Random Permutation FlowShop Scheduling Problems: SearchSpace Topology and Algorithm Performance
 INFORMS Journal on Computing
, 2002
"... The use of random test problems to evaluate algorithm performance raises an important, and generally unanswered, question: Are these results generalizable to more realistic... ..."
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Cited by 29 (3 self)
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The use of random test problems to evaluate algorithm performance raises an important, and generally unanswered, question: Are these results generalizable to more realistic...
Exploiting Replication and Data Reuse to Efficiently Schedule DataIntensive Applications on Grids
, 2004
"... Dataintensive applications executing over a computational grid demand large data transfers. These are costly operations. Therefore, taking them into account is mandatory to achieve efficient scheduling of dataintensive applications on grids. Further, within a heterogeneous and ever changing enviro ..."
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Cited by 29 (11 self)
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Dataintensive applications executing over a computational grid demand large data transfers. These are costly operations. Therefore, taking them into account is mandatory to achieve efficient scheduling of dataintensive applications on grids. Further, within a heterogeneous and ever changing environment such as a grid, better schedules are typically attained by heuristics that use dynamic information about the grid and the applications. However, these information are often difficult to be accurately obtained. On the other hand, although there are schedulers that attain good performance without requiring dynamic information, they were not designed to take data transfer into account. This paper presents Storage Affinity, a novel scheduling heuristic for bagoftasks dataintensive applications running on grid environments. Storage Affinity...