Handbook of Constraint Programming

This work is concerned with approximating constraint satisfaction problems (CSPs) with an additional global cardinality constraints. For example, \maxcut is a boolean CSP where the input is a graph $G = (V,E)$ and the goal is to find a cut $S \cup \bar S = V$ that maximizes the numberof crossing edges, $|E(S,\bar S)|$. The \maxbisection problem is a variant of \maxcut with an additional global constraint that each side of the cut has exactly half the vertices, i.e., $|S| = |V|/2$. Several other natural optimization problems like \minbisection and approximating Graph Expansion can be formulated as CSPs with global constraints. In this work, we formulate a general approach towards approximating CSPs with global constraints using SDP hierarchies. To demonstrate the approach we present the following results: Using the Lasserre hierarchy, we present an algorithm that runs in time $O(n^{poly(1/\epsilon)})$ that given an instance of \maxbisection with value $1-\epsilon$, finds a bisection with value $1-O(\sqrt{\epsilon})$. This approximation is near-optimal (up to constant factors in $O()$) under the Unique Games Conjecture. By a computer-assisted proof, we show that the same algorithm also achieves a 0.85-approximation for \maxbisection, improving on the previous bound of 0.70 (note that it is \uniquegames hard to approximate better than a 0.878 factor). The same algorithm also yields a 0.92-approximation for \maxtwosat with cardinality constraints. For every CSP with a global cardinality constraints, we present a generic conversion from integrality gap instances for the Lasserre hierarchy to a {\it dictatorship test} whose soundness is at most integrality gap. Dictatorship testing gadgets are central to hardness results for CSPs, and a generic conversion of the above nature lies at the core of the tight Unique Games based hardness result for CSPs. \cite{Raghavendra08}

Constraint Programming typically uses the technique of depth-first branch and bound as the method of solving optimization problems. Although this method can give the optimal solution, for large problems, the time needed to find the optimal can be prohibitive. This paper introduces a method for using local search techniques within a Constraint Programming framework, and applies this technique to vehicle routing problems. We introduce a Constraint Programming model for vehicle routing, and a system for integrating Constraint Programming and local search techniques. We then describe how the method can be accelerated by handling core constraints using fast local checks, while other more complex constraints are left to the constraint propagation system. We have coupled our local search method with a meta-heuristic to avoid the search being trapped in local minima. Several meta-heuristics are investigated ranging from a simple Tabu Search method to Guided Local Search. An empirical study over benchmark problems shows the relative merits of these techniques. Investigations indicate that the specific long-term memory technique used by Guided Local Search can be used as a diversification method for Tabu Search, resulting in significant benefit. Several new best solutions on the Solomon problems are found in relatively few iterations of our algorithm.

The Constraint Satisfaction Problem (CSP) is a central and generic computational problem which provides a common framework for many theoretical and practical applications. A central line of research is concerned with the identification of classes of instances for which CSP can be solved in polynomial time; such classes are often called “islands of tractability.” A prominent way of defining islands of tractability for CSP is to restrict the relations that may occur in the constraints to a fixed set, called a constraint language , whereas a constraint language is conservative if it contains all unary relations. Schaefer’s famous Dichotomy Theorem (STOC 1978) identifies all islands of tractability in terms of tractable constraint languages over a Boolean domain of values. Since then, many extensions and generalizations of this result have been obtained. Recently, Bulatov (TOCL 2011, JACM 2013) gave a full characterization of all islands of tractability for CSP and the counting version #CSP that are defined in terms of conservative constraint languages. This article addresses the general limit of the mentioned tractability results for CSP and #CSP, that they only apply to instances where all constraints belong to a single tractable language (in general, the union of two tractable languages is not tractable). We show that we can overcome this limitation as long as we keep some control of how constraints over the various considered tractable languages interact with each other. For this purpose, we utilize the notion of a strong backdoor of a CSP instance, as introduced by Williams et al. (IJCAI 2003), which is a set of variables that when instantiated, moves the instance to an island of tractability, that is, to a tractable class of instances. We consider strong backdoors into scattered classes , consisting of CSP instances where each connected component belongs entirely to some class from a list of tractable classes. Figuratively speaking, a scattered class constitutes an archipelago of tractability . The main difficulty lies in finding a strong backdoor of given size k ; once it is found, we can try all possible instantiations of the backdoor variables and apply the polynomial time algorithms associated with the islands of tractability on the list component-wise. Our main result is an algorithm that, given a CSP instance with n variables, finds in time f ( k ) n O (1) a strong backdoor into a scattered class (associated with a list of finite conservative constraint languages) of size k or correctly decides that there is not such a backdoor. This also gives the running time for solving (#)CSP, provided that (#)CSP is polynomial-time tractable for the considered constraint languages. Our result makes significant progress towards the main goal of the backdoor-based approach to CSPs—the identification of maximal base classes for which small backdoors can be detected efficiently.

The exponential-time hypothesis (ETH) states that 3-SAT is not solvable in subexponential time, i.e. not solvable in O(c^n) time for arbitrary c > 1, where n denotes the number of variables. Problems like k-SAT can be viewed as special cases of the constraint satisfaction problem (CSP), which is the problem of determining whether a set of constraints is satisfiable. In this paper we study the worst-case time complexity of NP-complete CSPs. Our main interest is in the CSP problem parameterized by a constraint language Gamma (CSP(Gamma)), and how the choice of Gamma affects the time complexity. It is believed that CSP(Gamma) is either tractable or NP-complete, and the algebraic CSP dichotomy conjecture gives a sharp delineation of these two classes based on algebraic properties of constraint languages. Under this conjecture and the ETH, we first rule out the existence of subexponential algorithms for finite domain NP-complete CSP(Gamma) problems. This result also extends to certain infinite-domain CSPs and structurally restricted CSP(Gamma) problems. We then begin a study of the complexity of NP-complete CSPs where one is allowed to arbitrarily restrict the values of individual variables, which is a very well-studied subclass of CSPs. For such CSPs with finite domain D, we identify a relation SD such that (1) CSP({SD}) is NP-complete and (2) if CSP(Gamma) over D is NP-complete and solvable in O(c^n) time, then CSP({SD}) is solvable in O(c^n) time, too. Hence, the time complexity of CSP({SD}) is a lower bound for all CSPs of this particular kind. We also prove that the complexity of CSP({SD}) is decreasing when |D| increases, unless the ETH is false. This implies, for instance, that for every c>1 there exists a finite-domain Gamma such that CSP(Gamma) is NP complete and solvable in O(c^n) time.

Traditional vehicle routing problems implicitly assume that only one crew operates a vehicle for the entirety of its journey. However, this assumption is violated in many applications arising in humanitarian and military logistics. This paper considers a joint vehicle and crew routing and scheduling problem in which crews are able to interchange vehicles, resulting in space and time interdependencies between vehicle routes and crew routes. The problem is formulated as a mixed integer programming (MIP) model and a constraint programming (CP) model that overlay crew routing constraints over a standard vehicle routing problem. The constraint program uses a novel optimization constraint to detect infeasibility and to bound crew objectives. This paper also explores methods using large neighborhood search over the MIP and CP models. Experimental results indicate that modeling the vehicle and crew routing problems jointly and supporting vehicle interchanges for crews may bring significant benefits in cost reduction compared with a method that sequentializes these decisions.

An instance of the Constraint Satisfaction Problem (CSP) is given by a family of constraints on overlapping sets of variables, and the goal is to assign values from a xed domain to the variables so that all constraints are satised. In the optimization version, the goal is to maximize the number of satised constraints. An approximation algorithm for CSP is called robust if it outputs an assignment satisfying an (1????g("))-fraction of constraints on any (1????")-satisable instance, where the loss function g is such that g(") ! 0 as " ! 0. We study how the robust approximability of CSPs depends on the set of constraint relations allowed in instances, the so-called constraint language. All constraint languages admitting a robust polynomial-time algorithm (with some g) have been characterised by Barto and Kozik, with the general bound on the loss g being doubly exponential, specically g(") = O((log log(1="))= log(1=")). It is natural to ask when a better loss can be achieved: in particular, polynomial loss g(") = O("1=k) for some constant k. In this paper, we consider CSPs with a constraint language having a nearunanimity polymorphism. This general condition almost matches a known necessary condition for having a robust algorithm with polynomial loss. We give two randomized robust algorithms with polynomial loss for such CSPs: one works for any near-unanimity polymorphism and the parameter k in the loss depends on the size of the domain and the arity of the relations in ????, while the other works for a special ternary near-unanimity operation called dual discriminator with k = 2 for any domain size. In the latter case, the CSP is a common generalisation of Unique Games with a xed domain and 2-Sat. In the former case, we use the algebraic approach to the CSP. Both cases use the standard semidenite programming relaxation for CSP.

We study two natural extensions of Constraint Satisfaction Problems (CSPs). Balance-Max-CSP requires that in any feasible assignment each element in the domain is used an equal number of times. An instance of Hard-Max-CSP consists of soft constraints and hard constraints, and the goal is to maximize the weight of satisfied soft constraints while satisfying all the hard constraints. These two extensions contain many fundamental problems not captured by CSPs, and challenge traditional theories about CSPs in a more general framework. Max-2-SAT and Max-Horn-SAT are the only two nontrivial classes of Boolean CSPs that admit a robust satisfibiality algorithm, i.e., an algorithm that finds an assignment satisfying at least (1 ? g(?)) fraction of constraints given a (1 ? ?)-satisfiable instance, where g(?) ? 0 as ? ? 0, and g(0) = 0. We prove the inapproximability of these problems with balance or hard constraints, showing that each variant changes the nature of the problems significantly (in different ways). For instance, deciding whether an instance of 2-SAT admits a balanced assignment is NP-hard, and for Max-2-SAT with hard constraints, it is hard to find a constant-factor approximation even on (1 ? ?)-satisfiable instances (in particular, the version with hard constraints does not admit a robust satisfiability algorithm). We also study hardness results for a certain CSP over a larger domain capturing ordering constraints: we show that hard constraints rule out constant-factor approximation algorithms. All our hardness results are almost optimal -- they completely rule out algorithms with certain properties, or can be matched by simple extensions to existing algorithms.

Many natural combinatorial problems can be expressed as constraint satisfaction problems. This class of problems is known to be NP-complete in general, but certain restrictions on theform of the constraints can ensure tractability. The standard way to parameterize interesting subclasses of the constraint satisfaction problem is via finite constraint languages. The mainproblem is to classify those subclasses that are solvable in polynomial time and those that are NP-complete. It was conjectured that if a core of a constraint language has a weak near unanimity polymorphism then the corresponding constraint satisfaction problem is tractable, otherwise it is NP-complete. In the paper we present an algorithm that solves Constraint Satisfaction Problem in polynomial time for constraint languages having a weak near unanimity polymorphism, which proves the remaining part of the conjecture.

This paper presents an algorithm called CSP-IRPTW for the vehicles routing problem with time windows (VRPTW), which applies the PCP method (precedence constraint posting) used for models of scheduling as a CSP (constraint satisfaction problem). PCP involves the calculation of the shortest path in partial and global form, between pairs of nodes and among all the nodes respectively, in the graph that represents the VRPTW model. In order to apply PCP to VRPTW, the problem is treated as a CSP. The results show that the proposed search algorithm is efficient in the search for the global optimum for some problems.

The Constraint Satisfaction Problem (CSP) formalization has been a productive tool within Artificial Intelligence and related areas. The Finite CSP (FCSP) framework is presented here as a restricted logical calculus within a space of logical representation and reasoning systems. FCSP is formulated in a variety of logical settings: theorem proving in first order predicate calculus, propositional theorem proving (and hence SAT), the Prolog and Datalog approaches, constraint network algorithms, a logical interpreter for networks of constraints, the Constraint Logic Programming (CLP) paradigm and propositional model finding (and hence SAT, again). Several standard, and some not-so-standard, logical methods can therefore be used to solve these problems. By doing this we obtain a specification of the semantics of the common approaches. This synthetic treatment also allows algorithms and results from these disparate areas to be imported, and specialized, to FCSP; the special properties of FCSP are exploited to achieve, for example, completeness and to improve efficiency. It also allows export to the related areas. By casting CSP both as a generalization of FCSP and as a specialization of CLP it is observed that some, but not all, FCSP techniques lift to CSP and, perhaps, thereby to CLP. Various new connections are uncovered, in particular between the proof-finding approaches and the alternative model-finding approaches that have arisen in depiction and diagnosis applications.

In this paper we propose a method for integrating constraint propagation algorithms into an optimization procedure for vertex coloring with the goal of finding improved lower bounds. The key point we address is how to get instances of Constraint Satisfaction Problems (CSPs) from a graph coloring problem in order to give rise to new lower bounds outperforming the maximum clique bound. More precisely, the algorithms presented have the common goal of finding CSPs in the graph for which infeasibility can be proven. This is achieved by means of constraint propagation techniques which allow the algorithms to eliminate inconsistencies in the CSPs by updating domains dynamically and rendering such infeasibilities explicit. At the end of this process we use the largest CSP for which it has not been possible to prove infeasibility as an input for an algorithm which enlarges such CSP to get a feasible coloring. We experimented with a set of middle-high density graphs with quite a large difference between the maximum clique and the chromatic number.

Using artificial neural networks for constraint satisfaction problem

We present a CLP(FD)-based constraint solver able to deal with unbounded domains. It is based on constraint propagation, resorting to enumeration if all other methods fail. An important aspect is detecting when enumeration was complete and if this has an impact on the soundness of the result. We present a technique which guarantees soundness in the following way: if the constraint solver finds a solution it is guaranteed to be correct; if the constraint solver fails to find a solution it can either return the result "definitely false" in case it knows enumeration was exhaustive, or "unknown" in case it was aborted. The technique can deal with nested universal and existential quantifiers. It can easily be extended to set comprehensions and other operators introducing new quantified variables. We show applications in data validation and proof.

The Constraint Satisfaction Problem (CSP) is a central and generic computational problem which provides a common framework for many theoretical and practical applications. A central line of research is concerned with the identification of classes of instances for which CSP can be solved in polynomial time; such classes are often called "islands of tractability." A prominent way of defining islands of tractability for CSP is to restrict the relations that may occur in the constraints to a fixed set, called a constraint language, whereas a constraint language is conservative if it contains all unary relations. This paper addresses the general limit of the mentioned tractability results for CSP and #CSP, that they only apply to instances where all constraints belong to a single tractable language (in general, the union of two tractable languages isn't tractable). We show that we can overcome this limitation as long as we keep some control of how constraints over the various considered tractable languages interact with each other. For this purpose we utilize the notion of a \emph{strong backdoor} of a CSP instance, as introduced by Williams et al. (IJCAI 2003), which is a set of variables that when instantiated moves the instance to an island of tractability, i.e., to a tractable class of instances. In this paper, we consider strong backdoors into \emph{scattered classes}, consisting of CSP instances where each connected component belongs entirely to some class from a list of tractable classes. Our main result is an algorithm that, given a CSP instance with $n$ variables, finds in time $f(k)n^{O(1)}$ a strong backdoor into a scattered class (associated with a list of finite conservative constraint languages) of size $k$ or correctly decides that there isn't such a backdoor.

Over-constrained problems are ubiquitous in real-world applications. In constraint programming, over-constrained problems can be modeled and solved using soft constraints. Soft constraints, as opposed to hard constraints, are allowed to be violated, and the goal is to find a solution that minimizes the total amount of violation. In this chapter, an overview of recent developments in solution methods for over-constrained problems using constraint programming is presented, with an emphasis on soft global constraints.