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124
A formal analysis and taxonomy of task allocation in multirobot systems
 Int’l. J. of Robotics Research
"... Despite more than a decade of experimental work in multirobot systems, important theoretical aspects of multirobot coordination mechanisms have, to date, been largely untreated. To address this issue, we focus on the problem of multirobot task allocation (MRTA). Most work on MRTA has been ad hoc ..."
Abstract

Cited by 196 (4 self)
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Despite more than a decade of experimental work in multirobot systems, important theoretical aspects of multirobot coordination mechanisms have, to date, been largely untreated. To address this issue, we focus on the problem of multirobot task allocation (MRTA). Most work on MRTA has been ad hoc and empirical, with many coordination architectures having been proposed and validated in a proofofconcept fashion, but infrequently analyzed. With the goal of bringing objective grounding to this important area of research, we present a formal study of MRTA problems. A domainindependent taxonomy of MRTA problems is given, and it is shown how many such problems can be viewed as instances of other, wellstudied, optimization problems. We demonstrate how relevant theory from operations research and combinatorial optimization can be used for analysis and greater understanding of existing approaches to task allocation, and to show how the same theory can be used in the synthesis of new approaches. KEY WORDS—task allocation, multirobot systems, coordination, utility 1.
Combinatorial auctions: A survey
, 2000
"... Many auctions involve the sale of a variety of distinct assets. Examples are airport time slots, delivery routes and furniture. Because of complementarities (or substitution effects) between the different assets, bidders have preferences not just for particular items but for sets or bundles of items ..."
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Cited by 170 (1 self)
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Many auctions involve the sale of a variety of distinct assets. Examples are airport time slots, delivery routes and furniture. Because of complementarities (or substitution effects) between the different assets, bidders have preferences not just for particular items but for sets or bundles of items. For this reason, economic efficiency is enhanced if bidders are allowed to bid on bundles or combinations of different assets. This paper surveys the state of knowledge about the design of combinatorial auctions. Second, it uses this subject as a vehicle to convey the aspects of integer programming that are relevant for the
A Parallel Genetic Algorithm for the Set Partitioning Problem
, 1994
"... In this dissertation we report on our efforts to develop a parallel genetic algorithm and apply it to the solution of the set partitioning problema difficult combinatorial optimization problem used by many airlines as a mathematical model for flight crew scheduling. We developed a distributed stea ..."
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Cited by 67 (1 self)
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In this dissertation we report on our efforts to develop a parallel genetic algorithm and apply it to the solution of the set partitioning problema difficult combinatorial optimization problem used by many airlines as a mathematical model for flight crew scheduling. We developed a distributed steadystate genetic algorithm in conjunction with a specialized local search heuristic for solving the set partitioning problem. The genetic algorithm is based on an island model where multiple independent subpopulations each run a steadystate genetic algorithm on their own subpopulation and occasionally fit strings migrate between the subpopulations. Tests on forty realworld set partitioning problems were carried out on up to 128 nodes of an IBM SP1 parallel computer. We found that performance, as measured by the quality of the solution found and the iteration on which it was found, improved as additional subpopulations were added to the computation. With larger numbers of subpopulations the genetic algorithm was regularly able to find the optimal solution to problems having up to a few thousand integer variables. In two cases, highquality integer feasible solutions were found for problems with 36,699 and 43,749 integer variables, respectively. A notable limitation we found was the difficulty solving problems with many constraints.
Automatic Data Layout Using 01 Integer Programming
 In Proceedings of the International Conference on Parallel Architectures and Compilation Techniques (PACT94
, 1994
"... : The goal of languages like Fortran D or High Performance Fortran (HPF) is to provide a simple yet efficient machineindependent parallel programming model. By shifting much of the burden of machinedependent optimization to the compiler, the programmer is able to write dataparallel programs that ..."
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Cited by 62 (5 self)
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: The goal of languages like Fortran D or High Performance Fortran (HPF) is to provide a simple yet efficient machineindependent parallel programming model. By shifting much of the burden of machinedependent optimization to the compiler, the programmer is able to write dataparallel programs that can be compiled and executed with good performance on many different architectures. However, the choice of a good data layout is still left to the programmer. Even the most sophisticated compiler may not be able to compensate for a poorly chosen data layout since many compiler decisions are driven by the data layout specified in the program. The choice of a good data layout depends on many factors, including the target machine architecture, the compilation system, the problem size, and the number of processors available. The option of remapping arrays at specific points in the program makes the choice even harder. Current programming tools provide little or no support for this difficult sele...
Minimum cost capacity installation for multicommodity network flows
 MATHEMATICAL PROGRAMMING
, 1998
"... Consider a directed graph G = (V; A), and a set of traffic demands to be shipped between pairs of nodes in V. Capacity has to be installed on the edges of this graph (in integer multiples of a base unit) so that traffic can be routed. In this paper we consider the problem of minimum cost installatio ..."
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Cited by 53 (12 self)
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Consider a directed graph G = (V; A), and a set of traffic demands to be shipped between pairs of nodes in V. Capacity has to be installed on the edges of this graph (in integer multiples of a base unit) so that traffic can be routed. In this paper we consider the problem of minimum cost installation of capacity on the arcs to ensure that the required demands can be shipped simultaneously between node pairs. We study two different approaches for solving problems of this type. The first one is based on the idea of metric inequalities (see Onaga and Kakusho[1971]), and uses a formulation with only jAj variables. The second uses an aggregated multicommodity flow formulation and has jV j \Delta jAj variables. We first describe two classes of strong valid inequalities and use them to obtain a complete polyhedral description of the associated polyhedron for the complete graph on 3 nodes. Next we explain our solution methods for both of the approaches in detail and present computational results. Our computational experience shows that the two formulations are comparable and yield effective algorithms for solving reallife problems.
CABOB: A Fast Optimal Algorithm for Winner Determination in Combinatorial Auctions
, 2005
"... Combinatorial auctions where bidders can bid on bundles of items can lead to more economically efficient allocations, but determining the winners is NPcomplete and inapproximable. We present CABOB, a sophisticated optimal search algorithm for the problem. It uses decomposition techniques, upper and ..."
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Cited by 49 (9 self)
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Combinatorial auctions where bidders can bid on bundles of items can lead to more economically efficient allocations, but determining the winners is NPcomplete and inapproximable. We present CABOB, a sophisticated optimal search algorithm for the problem. It uses decomposition techniques, upper and lower bounding (also across components), elaborate and dynamically chosen bidordering heuristics, and a host of structural observations. CABOB attempts to capture structure in any instance without making assumptions about the instance distribution. Experiments against the fastest prior algorithm, CPLEX 8.0, show that CABOB is often faster, seldom drastically slower, and in many cases drastically faster—especially in cases with structure. CABOB’s search runs in linear space and has significantly better anytime performance than CPLEX. We also uncover interesting aspects of the problem itself. First, problems with short bids, which were hard for the first generation of specialized algorithms, are easy. Second, almost all of the CATS distributions are easy, and the run time is virtually unaffected by the number of goods. Third, we test several random restart strategies, showing that they do not help on this problem—the runtime distribution does not have a heavy tail.
Gomory Cuts Revisited
, 1996
"... In this paper, we investigate the use of Gomory's mixed integer cuts within a branchandcut framework. It has been argued in the literature that "a marriage of classical cutting planes and tree search is out of the question as far as the solution of largescale combinatorial optimization ..."
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Cited by 46 (5 self)
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In this paper, we investigate the use of Gomory's mixed integer cuts within a branchandcut framework. It has been argued in the literature that "a marriage of classical cutting planes and tree search is out of the question as far as the solution of largescale combinatorial optimization problems is concerned" [16] because the cuts generated at one node of the search tree need not be valid at other nodes. We show in this paper that it is possible, using a simple lifting procedure, to make Gomory cuts generated in a node of the enumeration tree globally valid in the case of mixed 01 programs. Other issues addressed in this paper are of computational nature, such as strategies for generating the cutting planes, deciding between branching and cutting, etc. The result is a robust mixed integer program solver. 1 Introduction In the late fifties and early sixties, Gomory [6], [7], [8] proposed to solve integer programs by using cutting planes, thus reducing integer programming to the solu...
A New Approach to Integrate Mixed Integer Programming with CLP
 Annals of Operations Research
"... This paper represents an integration of MIP and CLP by combining components of the CLP system ECLiPSe and the MIP system CPLEX. Our approach is introduced in three stages. Firstly we present an automatic transformation which maps general CLP programs onto such CLP programs that any disjunction is ..."
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Cited by 39 (7 self)
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This paper represents an integration of MIP and CLP by combining components of the CLP system ECLiPSe and the MIP system CPLEX. Our approach is introduced in three stages. Firstly we present an automatic transformation which maps general CLP programs onto such CLP programs that any disjunction is eliminated in favour of auxiliary binary variables. Secondly we present improvements of this mapping by using a committed choice operator and translations of predefined nonlinear constraints. Thirdly we introduce a new hybrid algorithm which reduces the search space of the problem progressively by calling finite domain propagation in ECLiPSe as well as dual simplex in CPLEX. The advantages of this integration are illustrated by solving efficiently difficult sample problems, which the CLP solver and the MIP solver alone are not able to solve in reasonable time. 1 INTRODUCTION The CLP Scheme by Jaffar and Lassez [9] outlines a theory of constraint programming over a single constrai...
Issues in multirobot coalition formation
 in Proc. MultiRobot Syst. From Swarms to Intell. Automata
"... Abstract—As the community strives towards autonomous multirobot systems, there is a need for these systems to autonomously form coalitions to complete assigned missions. Numerous coalition formation algorithms have been proposed in the software agent literature. Algorithms exist that form agent coal ..."
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Cited by 38 (3 self)
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Abstract—As the community strives towards autonomous multirobot systems, there is a need for these systems to autonomously form coalitions to complete assigned missions. Numerous coalition formation algorithms have been proposed in the software agent literature. Algorithms exist that form agent coalitions in both super additive and nonsuper additive environments. The algorithmic techniques vary from negotiationbased protocols in multiagent system (MAS) environments to those based on computation in distributed problem solving (DPS) environments. Coalition formation behaviors have also been discussed in relation to game theory. Despite the plethora of MAS coalition formation literature, to the best of our knowledge none of the proposed algorithms have been demonstrated with an actual multirobot system. There exists a discrepancy between the multiagent algorithms and their applicability to the multirobot domain. This paper aims to bridge that discrepancy by unearthing the issues that arise while attempting to tailor these algorithms to the multirobot domain. A wellknown multiagent coalition formation algorithm has been studied in order to identify the necessary modifications to facilitate its application to the multirobot domain. This paper reports multirobot coalition formation results based upon simulation and actual robot experiments. A multiagent coalition formation algorithm has been demonstrated on an actual robot system. Index Terms—Coalition formation, coalition imbalance, task allocation.
Airline Crew Scheduling: A New Formulation and Decomposition Algorithm
 Operations Research
, 1995
"... Airline crew scheduling is concerned with finding a minimum cost assignment of flight crews to a given flight schedule while satisfying restrictions dictated by collective bargaining agreements and the Federal Aviation Administration. Traditionally, the problem has been modeled as a set partitioning ..."
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Cited by 33 (5 self)
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Airline crew scheduling is concerned with finding a minimum cost assignment of flight crews to a given flight schedule while satisfying restrictions dictated by collective bargaining agreements and the Federal Aviation Administration. Traditionally, the problem has been modeled as a set partitioning problem. In this paper, we present a new model based on breaking the decision process into two stages. In the first stage we select a set of duty periods that cover the flights in the schedule. Then, in the second stage, we attempt to build pairings using those duty periods. We suggest a decomposition approach for solving the model and present computational results for test problems provided by a major carrier. Our formulation provides a tighter linear programming bound than that of the conventional set partitioning formulation but is more difficult to solve. 1 Introduction In this paper we present a new formulation and decomposition approach for the airline crew scheduling problem. The ...