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Range-only SLAM with indistinguishable landmarks;a constraint programming approach

constraintS 2016年第4期21卷 557-576页

作者： Jaulin, Luc OSM IHSEV LabSTICC 2 Rue Francois Verny F-29806 Brest France

This paper deals with the simultaneous localization and mapping problem (SLAM) for a robot. The robot has to build a map of its environment while localizing itself using a partially built map. It is assumed that (i) the map is made of point landmarks, (ii) the landmarks are indistinguishable, (iii) the only exteroceptive measurements correspond to the distance between the robot and the landmarks. This paper shows that SLAM can be cast into a constraint network the variables of which being trajectories, digraphs and subsets of Then, we show how constraint propagation can be extended to deal with such generalized constraint networks. As a result, due to the redundancy of measurements of SLAM, we demonstrate that a constraint-based approach provides an efficient backtrack-free algorithm able to solve our SLAM problem in a guaranteed way.

关键词： constraint programming Interval analysis Localization Robotics Simultaneous localization and mapping

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Schedule control model for linear projects based on linear scheduling method and constraint programming

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AUTOMATION IN CONSTRUCTION 2014年 37卷 22-37页

作者： Tang, Yuanjie Liu, Rengkui Sun, Quanxin Beijing jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Beijing Jiaotong Univ MOE Key Lab Urban Transportat Complex Syst Theory Beijing 100044 Peoples R China

China Railway is undertaking massive construction and development projects. A reasonable and resource-leveled schedule that allows for adjustments for unforeseen circumstances during construction is critical for managing railway construction projects. Currently, most construction projects use traditional network planning methods or the Gantt schedule for project management. However, these methods have limited applicability to railway construction projects, which are typically linear. This study uses the linear scheduling method and constraint programming techniques for solving schedule control problems faced during railroad construction. The proposal comprises a schedule control model, scheduling model, and schedule control system;the scheduling model is central to the schedule control model. Characteristics such as high flexibility and practicality facilitate multi-objective optimization during scheduling and modification of the linear schedule. The proposed model and algorithm were validated by comparing results with actual data from a highway construction project and the Urumqi-Dzungaria railway construction project. (C) 2013 Elsevier B.V. All rights reserved.

关键词： China railway construction project Linear scheduling method Resource leveling Schedule control constraint programming

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Network configuration distributed production scheduling problem: A constraint programming approach

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COMPUTERS & INDUSTRIAL ENGINEERING 2024年 188卷

作者： Ziadlou, Ghazal Emami, Saeed Asadi-Gangraj, Ebrahim Babol Noshiravani Univ Technol Dept Ind Engn Babol *** Iran

Nowadays, many massive factories are forced to distribute their products in several manufacturing units. This issue has caused the emergence of a novel category of problems called distributed production scheduling, which is vital in today's growing world. In this paper, the distributed production scheduling problem by considering network configuration with two echelons is addressed. The first and second echelon factories have different job configurations and have a hybrid flow shop and a flexible job shop environment, respectively. For this problem, A bi-objective mixed integer linear programming (MILP) model is presented to minimize the maximum completion time of jobs and transportation costs between the selected factories in two echelons, respectively. Consequently, the epsilon constraint method is used to deal with this bi-objective model. In addition, since distributed scheduling problems are classified as NP-Hard problems, it is very challenging to solve them for largesized instances. For this reason, a constraint programming model (CP) is also proposed. To evaluate the performance of the proposed MILP model and CP model, a total of 180 numerical instances are randomly generated in small, medium, and large sizes. The obtained results demonstrate the significant ability of the constraint programming approach in solving complex distributed scheduling problems even for large-sized instances with 30 jobs, 10 stages/operations for each job, 6 machines for each stage/operation, and 4 factories at each echelon in a reasonable time and proof that the CP model can outperform the MILP model in this problem.

关键词： Distributed scheduling Multi-factory scheduling Network configuration constraint programming Epsilon constraint method

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Practical minimization of pairwise-covering test configurations using constraint programming

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INFORMATION AND SOFTWARE TECHNOLOGY 2016年 71卷 129-146页

作者： Hervieu, Aymeric Marijan, Dusica Gotlieb, Arnaud Baudry, Benoit INRIA Rennes Bretagne Atlantique Rennes France Simula Res Lab Fornebu Norway

Context: Testing highly-configurable software systems is challenging due to a large number of test configurations that have to be carefully selected in order to reduce the testing effort as much as possible, while maintaining high software quality. Finding the smallest set of valid test configurations that ensure sufficient coverage of the system's feature interactions is thus the objective of validation engineers, especially when the execution of test configurations is costly or time-consuming. However, this problem is NP-hard in general and approximation algorithms have often been used to address it in practice. Objective: In this paper, we explore an alternative exact approach based on constraint programming that will allow engineers to increase the effectiveness of configuration testing while keeping the number of configurations as low as possible. Method: Our approach consists in using a (time-aware) minimization algorithm based on constraint programming. Given the amount of time, our solution generates a minimized set of valid test configurations that ensure coverage of all pairs of feature values (a.k.a. pairwise coverage). The approach has been implemented in a tool called PACOGEN. Results: PACOGEN was evaluated on 224 feature models in comparison with the two existing tools that are based on a greedy algorithm. For 79% of 224 feature models, PACOGEN generated up to 60% fewer test configurations than the competitor tools. We further evaluated PACOGEN in the case study of an industrial video conferencing product line with a feature model of 169 features, and found 60% fewer configurations compared with the manual approach followed by test engineers. The set of test configurations generated by PACOGEN decreased the time required by test engineers in manual test configuration by 85%, increasing the feature-pairs coverage at the same time. Conclusion: Our experimental evaluation concluded that optimal time-aware minimization of pairwise-covering test configurati

关键词： Variability testing Highly-configurable software systems constraint programming

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A constraint programming approach to cutset problems

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COMPUTERS & OPERATIONS RESEARCH 2006年第10期33卷 2852-2865页

作者： Fages, F Lal, A INRIA Rocquencourt Projet Contraintes F-78153 Le Chesnay France

We consider the problem of finding a cutset in a directed graph G = (V, E), i.e., a set of vertices that cuts all cycles in G. Finding a cutset of minimum cardinality is NP-hard. There exist several approximate and exact algorithms, most of them using graph reduction techniques. In this paper, we propose a constraint programming approach to cutset problems and design a global constraint for computing cutsets. This cutset constraint is a global constraint over boolean variables associated to the vertices of a given graph and states that the subgraph restricted to the vertices having their boolean variable set to true is acyclic. We propose a filtering algorithm based on graph contraction operations and inference of simple boolean constraints, that has a linear time complexity in O (vertical bar E vertical bar +/- vertical bar V vertical bar). We discuss search heuristics based on graph properties provided by the cutset constraint, and show the efficiency of the cutset constraint on benchmarks of the literature for pure minimum cutset problems, and on an application to log-based reconciliation problems where the global cutset constraint is mixed with other boolean constraints. (c) 2005 Published by Elsevier Ltd.

关键词： constraint programming global constraints cutset feedback vertex set reconciliation

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A Hybrid Tabu Search and constraint programming Algorithm for the Dynamic Dial-a-Ride Problem

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INFORMS JOURNAL ON COMPUTING 2012年第3期24卷 343-355页

作者： Berbeglia, Gerardo Cordeau, Jean-Francois Laporte, Gilbert HEC Montreal Dept Operat Management & Logist Montreal PQ H3T 2A7 Canada HEC Montreal Dept Management Sci Montreal PQ H3T 2A7 Canada

This paper introduces a hybrid algorithm for the dynamic dial-a-ride problem in which service requests arrive in real time. The hybrid algorithm combines an exact constraint programming algorithm and a tabu search heuristic. An important component of the tabu search heuristic consists of three scheduling procedures that are executed sequentially. Experiments show that the constraint programming algorithm is sometimes able to accept or reject incoming requests, and that the hybrid method outperforms each of the two algorithms when they are executed alone.

关键词： dial-a-ride problem dynamic constraint programming tabu search scheduling

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Time windows and constraint programming to deal with strong restriction in the due date of productive systems

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ANNUAL REVIEWS IN CONTROL 2014年第1期38卷 134-146页

作者： Pessoa, Marcosiris A. O. Estombelo Montesco, Richard A. Junqueira, Fabricio dos Santos Filho, Diolino Jose Miyagi, Paulo E. Univ Sao Paulo Sao Paulo Brazil Univ Fed Sergipe Sergipe Brazil

The APS (Advanced Planning and Scheduling) systems are widely used by companies;however, the traditional APS systems cannot deal with problems whose the due date is a strong restriction. The problem derives from the way companies use their scheduling heuristics. This paper addresses this problem by using the concept of time windows with the constraint programming mechanism. A procedure is shown to generate the time windows and how they can be used for the APS systems. The APS heuristic approach that uses the concepts of time windows with constraint programming is introduced to solve problems for which the due date is a strong restriction. These heuristics, with tasks allocation either at the beginning or at the end of the task time window, eliminate the need for a priority scheme. To illustrate the advantage of the proposal, some examples are presented. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： constraint programming

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Mining Time-constrained Sequential Patterns with constraint programming

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constraintS 2017年第4期22卷 548-570页

作者： Aoga, John O. R. Guns, Tias Schaus, Pierre Univ Catholique Louvain UCLouvain Inst Informat & Commun Technol Elect & Appl Math Louvain Belgium UAC Ecole Doctorale Sci Ingn ED SDI Calavi Benin Vrije Univ Brussel Brussels Belgium Katholieke Univ Leuven Leuven Belgium

constraint programming (CP) has proven to be an effective platform for constraint based sequence mining. Previous work has focused on standard frequent sequence mining, as well as frequent sequence mining with a maximum 'gap' between two matching events in a sequence. The main challenge in the latter is that this constraint can not be imposed independently of the omnipresent frequency constraint. Indeed, the gap constraint changes whether a subsequence is included in a sequence, and hence its frequency. In this work, we go beyond that and investigate the integration of timed events and constraining the minimum/maximum gap as well as minimum/maximum span. The latter constrains the allowed time between the first and last matching event of a pattern. We show how the three are interrelated, and what the required changes to the frequency constraint are. Key in our approach is the concept of an extension window defined by gap/span and we develop techniques to avoid scanning the sequences needlessly, as well as using a backtracking-aware data structure. Experiments demonstrate that the proposed approach outperforms both specialized and CP-based approaches in almost all cases and that the advantage increases as the minimum frequency threshold decreases. This paper is an extension of the original manuscript presented at CPAIOR'17 [5].

关键词： Data mining Sequential pattern mining constraint programming Global constraint Gap constraint Span constraint Time constraint

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On the optimal modeling and evaluation of job shops with a total weighted tardiness objective: constraint programming vs. mixed integer programming

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APPLIED MATHEMATICAL MODELLING 2015年第2期39卷 955-964页

作者： Sahraeian, Rashed Namakshenas, Mohammad Shahed Univ Coll Engn Dept Ind Engn Tehran Iran

In this study we consider the mapping of the main characteristics, i.e., the structural properties, of a classical job shop problem onto well-known combinatorial techniques, i.e., positional sets, disjunctive graphs, and linear orderings. We procedurally formulate three different models in terms of mixed integer programming (MIP) and constraint programming (CP) paradigms. We utilize the properties of positional sets and disjunctive graphs to construct tight MIP formulations in an efficient manner. In addition, the properties are retrieved by the polyhedral structures of the linear ordering and they are defined on a disjunctive graph to facilitate the formulation of the CP model and to reduce the number of dominant variables. The proposed models are solved and their computational performance levels are compared with well-known benchmarks in the job shop research area using IBM ILog Cplex software. We provide a more explicit analogy of the applicability of the proposed models based on parameters such as time efficiency, thereby producing strong bounds, as well as the expressive power of the modeling process. We also discuss the results to determine the best formulation, which is computationally efficient and structurally parsimonious with respect to different criteria. (C) 2014 Elsevier Inc. All rights reserved.

关键词： Combinatorics constraint programming Job shop Mixed integer programming Total weighted tardiness

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A collection of constraint programming models for the three-dimensional stable matching problem with cyclic preferences

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constraintS 2022年第3期27卷 249-283页

作者： Cseh, Agnes Escamocher, Guillaume Genc, Begum Quesada, Luis Ctr Econ & Reg Studies Inst Econ Budapest Hungary Univ Coll Dublin Insight Ctr Data Analyt Dublin 4 Cork Dublin Ireland Univ Coll Cork Sch Comp Sci & Informat Technol Cork Ireland Confirm Ctr Smart Mfg Cork V94 C928 Ireland

We introduce five constraint models for the 3-dimensional stable matching problem with cyclic preferences and study their relative performances under diverse configurations. While several constraint models have been proposed for variants of the two-dimensional stable matching problem, we are the first to present constraint models for a higher number of dimensions. We show for all five models how to capture two different stability notions, namely weak and strong stability. Additionally, we translate some well-known fairness notions (i.e. sex-equal, minimum regret, egalitarian) into 3-dimensional matchings, and present how to capture them in each model. Our tests cover dozens of problem sizes and four different instance generation methods. We explore two levels of commitment in our models: one where we have an individual variable for each agent (individual commitment), and another one where the determination of a variable involves pairing the three agents at once (group commitment). Our experiments show that the suitability of the commitment depends on the type of stability we are dealing with, and that the choice of the search heuristic can help improve performance. Our experiments not only brought light to the role that learning and restarts can play in solving this kind of problems, but also allowed us to discover that in some cases combining strong and weak stability leads to reduced runtimes for the latter.

关键词： Three-dimensional stable matching with cyclic preferences 3DSM-cyc constraint programming Fairness

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