Constraint integer programming (CIP) is a novel paradigm which integrates constraint programming (CP), mixed integer programming (MIP), and satisfiability (SAT) modeling and solving techniques. In this paper we discuss the software framework and solver SCIP (Solving Constraint Integer Programs), which is free for academic and non-commercial use and can be downloaded in source code. This paper gives an overview of the main design concepts of SCIP and how it can be used to solve constraint integer programs. To illustrate the performance and flexibility of SCIP, we apply it to two different problem classes. First, we consider mixed integer programming and show by computational experiments that SCIP is almost competitive to specialized commercial MIP solvers, even though SCIP supports the more general constraint integer programming paradigm. We develop new ingredients that improve current MIP solving technology. As a second application, we employ SCIP to solve chip design verification problems as they arise in the logic design of integrated circuits. This application goes far beyond traditional MIP solving, as it includes several highly non-linear constraints, which can be handled nicely within the constraint integer programming framework. We show anecdotally how the different solving techniques from MIP, CP, and SAT work together inside SCIP to deal with such constraint classes. Finally, experimental results show that our approach outperforms current state-of-the-art techniques for proving the validity of properties on circuits containing arithmetic.

/pdf/scip-solving-constraint-integer-programs-21j9hcniww.pdf

SCIP: solving constraint integer programs

In this chapter, you will see how the simplex method simplifies when it is applied to a class of optimization problems that are known as “network flow models.” You will also see that if a network flow model has “integer-valued data,” the simplex method finds an optimal solution that is integer-valued.

Flows in Networks

We present a route planning technique solely based on the concept of node contraction. The nodes are first ordered by 'importance'. A hierarchy is then generated by iteratively contracting the least important node. Contracting a node υ means replacing shortest paths going through v by shortcuts. We obtain a hierarchical query algorithm using bidirectional shortest-path search. The forward search uses only edges leading to more important nodes and the backward search uses only edges coming from more important nodes. For fastest routes in road networks, the graph remains very sparse throughout the contraction process using rather simple heuristics for ordering the nodes. We have five times lower query times than the best previous hierarchical Dijkstra-based speedup techniques and a negative space overhead, i.e., the data structure for distance computation needs less space than the input graph. CHs can be combined with many other route planning techniques, leading to improved performance for many-to-many routing, transit-node routing, goal-directed routing or mobile and dynamic scenarios.

/pdf/contraction-hierarchies-faster-and-simpler-hierarchical-44o5lbyhfa.pdf

Contraction hierarchies: faster and simpler hierarchical routing in road networks

We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide different trade-offs between preprocessing effort, space requirements, and query time. Some algorithms can answer queries in a fraction of a microsecond, while others can deal efficiently with real-time traffic. Journey planning on public transportation systems, although conceptually similar, is a significantly harder problem due to its inherent time-dependent and multicriteria nature. Although exact algorithms are fast enough for interactive queries on metropolitan transit systems, dealing with continent-sized instances requires simplifications or heavy preprocessing. The multimodal route planning problem, which seeks journeys combining schedule-based transportation (buses, trains) with unrestricted modes (walking, driving), is even harder, relying on approximate solutions even for metropolitan inputs.

/pdf/route-planning-in-transportation-networks-k0typz8i4k.pdf

Route Planning in Transportation Networks

We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espirito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.

Self-driving cars: A survey

We present a number of improvements of the basic variant of the arc-flag acceleration (Lauther, 1997, 2004) for point-to-point (P2P) shortest path computations on large graphs Arc-flags are a modification to the standard Dijkstra algorithm and are used to avoid exploring unnecessary paths during shortest path computation We assume that for the same input graph the shortest path problem has to be solved repeatedly for different node pairs Thus, precomputing the arc-flags is possible We show that the improved arc-flag acceleration achieves speedups of P2P shortest path queries of more than 1,470 on a subnetwork of the German road network with 1M node and 25M arcs using 450 bits of additional information per arc The acceleration factors increase with the size of the input graph Finally, we present an improved preprocessing version which allows precomputing arc-flags for European and North-American road networks within hours

/pdf/fast-point-to-point-shortest-path-computations-with-arc-44yybtk0bk.pdf

Fast Point-to-Point Shortest Path Computations with Arc-Flags.

We study an acceleration method for point-to-point shortest-path computations in large and sparse directed graphs with given nonnegative arc weights. The acceleration method is called the arc-flag approach and is based on Dijkstra's algorithm. In the arc-flag approach, we allow a preprocessing of the network data to generate additional information, which is then used to speedup shortest-path queries. In the preprocessing phase, the graph is divided into regions and information is gathered on whether an arc is on a shortest path into a given region. The arc-flag method combined with an appropriate partitioning and a bidirected search achieves an average speedup factor of more than 500 compared to the standard algorithm of Dijkstra on large networks (1 million nodes, 2.5 million arcs). This combination narrows down the search space of Dijkstra's algorithm to almost the size of the corresponding shortest path for long-distance shortest-path queries. We conduct an experimental study that evaluates which partitionings are best suited for the arc-flag method. In particular, we examine partitioning algorithms from computational geometry and a multiway arc separator partitioning. The evaluation was done on German road networks. The impact of different partitions on the speedup of the shortest path algorithm are compared. Furthermore, we present an extension of the speedup technique to multiple levels of partitions. With this multilevel variant, the same speedup factors can be achieved with smaller space requirements. It can, therefore, be seen as a compression of the precomputed data that preserves the correctness of the computed shortest paths.

Partitioning graphs to speedup Dijkstra's algorithm

In this paper, we consider Dijkstra's algorithm for the point-to-point shortest path problem in large and sparse graphs with a given layout. In [1], a method has been presented that uses a partitioning of the graph to perform a preprocessing which allows to speed-up Dijkstra's algorithm considerably.

We present an experimental study that evaluates which partitioning methods are suited for this approach. In particular, we examine partitioning algorithms from computational geometry and compare their impact on the speed-up of the shortest-path algorithm. Using a suited partitioning algorithm speed-up factors of 500 and more were achieved.

Furthermore, we present an extension of this speed-up technique to multiple levels of partitionings. With this multi-level variant, the same speed-up factors can be achieved with smaller space requirements. It can therefore be seen as a compression of the precomputed data that conserves the correctness of the computed shortest paths.

Partitioning graphs to speed up dijkstra's algorithm

We study acceleration methods for point-to-point shortest path and constrained shortest path computations in directed graphs, in particular in road and railroad networks. Our acceleration methods are allowed to use a preprocessing of the network data to create auxiliary information which is then used to speed-up shortest path queries. We focus on two methods based on Dijkstra's algorithm for shortest path computations and two methods based on a generalized version of Dijkstra for constrained shortest paths. The methods are compared with other acceleration techniques, most of them published only recently. We also look at appropriate combinations of different methods to find further improvements. For shortest path computations we investigate hierarchical multiway-separator and arc-flag approaches. The hierarchical multiway-separator approach divides the graph into regions along a multiway-separator and gathers information to improve the search for shortest paths that stretch over several regions. A new multiway-separator heuristic is presented which improves the hierarchical separator approach. The arc-flag approach divides the graph into regions and gathers information on whether an arc is on a shortest path into a given region. Both methods yield significant speed-ups of the plain Dijkstra's algorithm. The arc flag method combined with an appropriate partition and a bi-directed search achieves an average speed-up of up to 1,400 on large networks. This combination narrows down the search space of Dijkstra's algorithm to almost the size of the corresponding shortest path for long distance shortest path queries. For the constrained shortest path problem we show that goal-directed and bi-directed acceleration methods can be used both individually and in combination. The goal-directed search achieves the best speed-up factor of 110 for the constrained problem.

Acceleration of shortest path and constrained shortest path computation

For a given number L, an L-length-bounded edge-cut (node-cut, respectively) in a graph G with source s and sink t is a set C of edges (nodes, respectively) such that no s-t-path of length at most L remains in the graph after removing the edges (nodes, respectively) in C. An L-length-bounded flow is a flow that can be decomposed into flow paths of length at most L. In contrast to classical flow theory, we describe instances for which the minimum L-length-bounded edge-cut (node-cut, respectively) is Θ(n2/3)-times (Θ(√n)-times, respectively) larger than the maximum L-length-bounded flow, where n denotes the number of nodes; this is the worst case. We show that the minimum length-bounded cut problem is NP-hard to approximate within a factor of 1.1377 for L≥ 5 in the case of node-cuts and for L≥ 4 in the case of edge-cuts. We also describe algorithms with approximation ratio O(minlL,n/Lr) ⊆ O√n in the node case and O(min lL,n2/L2,√mr ⊆ O2/3 in the edge case, where m denotes the number of edges. Concerning L-length-bounded flows, we show that in graphs with unit-capacities and general edge lengths it is NP-complete to decide whether there is a fractional length-bounded flow of a given value. We analyze the structure of optimal solutions and present further complexity results.

/pdf/length-bounded-cuts-and-flows-59scplzqpx.pdf

Heiko Schilling

Papers

Fast Point-to-Point Shortest Path Computations with Arc-Flags.

Partitioning graphs to speedup Dijkstra's algorithm

Partitioning graphs to speed up dijkstra's algorithm

Acceleration of shortest path and constrained shortest path computation

Length-bounded cuts and flows