Interval Analysis on Directed Acyclic Graphs for Global Optimization

A directed acyclic graph (DAG) representation of optimization problems represents each variable, each operation, and each constraint in the problem formulation by a node of the DAG, with edges representing the flow of the computation. Using bounds on ranges of intermediate results, represented as weights on the nodes and a suitable mix of forward and backward evaluation, it is possible to give efficient implementations of interval evaluation and automatic differentiation. It is shown how to combine this with constraint propagation techniques to produce narrower interval derivatives and slopes than those provided by using only interval automatic differentiation preceded by constraint propagation. The implementation is based on earlier work by L.V. Kolev, (1997), Reliable Comput., 3, 83–93 on optimal slopes and by C. Bliek, (1992), Computer Methods for Design Automation, PhD Thesis, Department of Ocean Engineering, Massachusetts Institute of Technology on backward slope evaluation. Care is taken to ensure that rounding errors are treated correctly. Interval techniques are presented for computing from the DAG useful redundant constraints, in particular linear underestimators for the objective function, a constraint, or a Lagrangian. The linear underestimators can be found either by slope computations, or by recursive backward underestimation. For sufficiently sparse problems the work is proportional to the number of operations in the calculation of the objective function (resp. the Lagrangian). Mathematics Subject Classification (2000). primary 65G40, secondary 90C26     

Upward straight-line embeddings of directed graphs into point sets

In this paper we study the problem of computing an upward straight-line embedding of a planar DAG (directed acyclic graph) G into a point set S, i.e. a planar drawing of G such that each vertex is mapped to a point of S, each edge is drawn as a straight-line segment, and all the edges are oriented according to a common direction. In particular, we show that no biconnected DAG admits an upward straight-line embedding into every point set in convex position. We provide a characterization of the family of DAGs that admit an upward straight-line embedding into every convex point set such that the points with the largest and the smallest y-coordinate are consecutive in the convex hull of the point set. We characterize the family of DAGs that contain a Hamiltonian directed path and that admit an upward straight-line embedding into every point set in general position. We also prove that a DAG whose underlying graph is a tree does not always have an upward straight-line embedding into a point set in convex position and we describe how to construct such an embedding for a DAG whose underlying graph is a path. Finally, we give results about the embeddability of some sub-classes of DAGs whose underlying graphs are trees on point set in convex and in general position.     

Multiobjective optimization problem with variational inequality constraints

 We study a general multiobjective optimization problem with variational inequality, equality, inequality and abstract constraints. Fritz John type necessary optimality conditions involving Mordukhovich coderivatives are derived. They lead to Kuhn-Tucker type necessary optimality conditions under additional constraint qualifications including the calmness condition, the error bound constraint qualification, the no nonzero abnormal multiplier constraint qualification, the generalized Mangasarian-Fromovitz constraint qualification, the strong regularity constraint qualification and the linear constraint qualification. We then apply these results to the multiobjective optimization problem with complementarity constraints and the multiobjective bilevel programming problem. Received: November 2000 / Accepted: October 2001 Published online: December 19, 2002 Key Words. Multiobjective optimization – Variational inequality – Complementarity constraint – Constraint qualification – Bilevel programming problem – Preference – Utility function – Subdifferential calculus – Variational principle Research of this paper was supported by NSERC and a University of Victoria Internal Research Grant Research was supported by the National Science Foundation under grants DMS-9704203 and DMS-0102496 Mathematics Subject Classification (2000): Sub49K24, 90C29     

A new general form of conjugate gradient methods with guaranteed descent and strong global convergence properties

Although the study of global convergence of the Polak–Ribière–Polyak (PRP), Hestenes–Stiefel (HS) and Liu–Storey (LS) conjugate gradient methods has made great progress, the convergence of these algorithms for general nonlinear functions is still erratic, not to mention under weak conditions on the objective function and weak line search rules. Besides, it is also interesting to investigate whether there exists a general method that converges under the standard Armijo line search for general nonconvex functions, since very few relevant results have been achieved. So in this paper, we present a new general form of conjugate gradient methods whose theoretical significance is attractive. With any formula β _k  ≥ 0 and under weak conditions, the proposed method satisfies the sufficient descent condition independently of the line search used and the function convexity, and its global convergence can be achieved under the standard Wolfe line search or even under the standard Armijo line search. Based on this new method, convergence results on the PRP, HS, LS, Dai–Yuan–type (DY) and Conjugate–Descent–type (CD) methods are established. Preliminary numerical results show the efficiency of the proposed methods.     

Underestimating the cost of a soft constraint is dangerous: revisiting the edit-distance based soft regular constraint

Many real-life problems are over-constrained, so that no solution satisfying all their constraints exists. Soft constraints, with costs denoting how much the constraints are violated, are used to solve these problems. We use the edit-distance based SoftRegular constraint as an example to show that a propagation algorithm that sometimes underestimates the cost may guide the search to incorrect (non-optimal) solutions to an over-constrained problem. To compute correctly the cost for the edit-distance based SoftRegular constraint, we present a quadratic-time propagation algorithm based on dynamic programming and a proof of its correctness. We also give an improved propagation algorithm using an idea of computing the edit distance between two strings, which may also be applied to other constraints with propagators based on dynamic programming. The asymptotic time complexity of our improved propagator is always at least as good as the one of our quadratic-time propagator, but significantly better when the edit distance is small. Our propagators achieve domain consistency on the problem variables and bounds consistency on the cost variable. Our method can also be adapted for the violation measure of the edit-distance based Regular constraint for constraint-based local search.     

On the Expected Probability of Constraint Violation in Sampled Convex Programs

In this note, we derive an exact expression for the expected probability V of constraint violation in a sampled convex program (see Calafiore and Campi in Math. Program. 102(1):25–46, 2005; IEEE Trans. Autom. Control 51(5):742–753, 2006 for definitions and an introduction to this topic):

Second-order cover inequalities

We introduce a new class of second-order cover inequalities whose members are generally stronger than the classical knapsack cover inequalities that are commonly used to enhance the performance of branch-and-cut methods for 0–1 integer programming problems. These inequalities result by focusing attention on a single knapsack constraint in addition to an inequality that bounds the sum of all variables, or in general, that bounds a linear form containing only the coefficients 0, 1, and –1. We provide an algorithm that generates all non-dominated second-order cover inequalities, making use of theorems on dominance relationships to bypass the examination of many dominated alternatives. Furthermore, we derive conditions under which these non-dominated second-order cover inequalities would be facets of the convex hull of feasible solutions to the parent constraints, and demonstrate how they can be lifted otherwise. Numerical examples of applying the algorithm disclose its ability to generate valid inequalities that are sometimes significantly stronger than those derived from traditional knapsack covers. Our results can also be extended to incorporate multiple choice inequalities that limit sums over disjoint subsets of variables to be at most one.      

Solving Problems with Semidefinite and Related Constraints Using Interior-Point Methods for Nonlinear Programming

 In this paper, we describe how to reformulate a problem that has second-order cone and/or semidefiniteness constraints in order to solve it using a general-purpose interior-point algorithm for nonlinear programming. The resulting problems are smooth and convex, and numerical results from the DIMACS Implementation Challenge problems and SDPLib are provided. Received: March 10, 2001 / Accepted: January 18, 2002 Published online: September 27, 2002 Key Words. semidefinite programming – second-order cone programming – interior-point methods – nonlinear programming Mathematics Subject Classification (2000): 20E28, 20G40, 20C20     

The island confinement method for reducing search space in local search methods

Typically local search methods for solving constraint satisfaction problems such as GSAT, WalkSAT, DLM, and ESG treat the problem as an optimisation problem. Each constraint contributes part of a penalty function in assessing trial valuations. Local search examines the neighbours of the current valuation, using the penalty function to determine a “better” neighbour valuation to move to, until finally a solution which satisfies all the constraints is found. In this paper we investigate using some of the constraints as “hard” constraints, that are always satisfied by every trial valuation visited, rather than as part of a penalty function. In this way these constraints reduce the possible neighbours in each move and also the overall search space. The treating of some constraints as hard requires that the space of valuations that are satisfied is “connected” in order to guarantee that a solution can be found from any starting position within the region; thus the concept of islands and the name “island confinement method” arises. Treating some constraints as hard provides new difficulties for the search mechanism since the search space becomes more jagged, and there are more deep local minima. A new escape strategy is needed. To demonstrate the feasibility and generality of our approach, we show how the island confinement method can be incorporated in, and significantly improve, the search performance of two successful local search procedures, DLM and ESG, on SAT problems arising from binary CSPs. A preliminary version of this paper appeared in AAAI’2002.     

Virtual control regularization of state constrained linear quadratic optimal control problems

A numerical method for linear quadratic optimal control problems with pure state constraints is analyzed. Using the virtual control concept introduced by Cherednichenko et al. (Inverse Probl. 24:1–21, 2008) and Krumbiegel and R?sch (Control Cybern. 37(2):369–392, 2008), the state constrained optimal control problem is embedded into a family of optimal control problems with mixed control-state constraints using a regularization parameter α>0. It is shown that the solutions of the problems with mixed control-state constraints converge to the solution of the state constrained problem in the L ² norm as α tends to zero. The regularized problems can be solved by a semi-smooth Newton method for every α>0 and thus the solution of the original state constrained problem can be approximated arbitrarily close as α approaches zero. Two numerical examples with benchmark problems are provided.     

Finding a minimum-weightk-link path in graphs with the concave Monge property and applications

LetG be a weighted, complete, directed acyclic graph (DAG) whose edge weights obey the concave Monge condition. We give an efficient algorithm for finding the minimum-weightk-link path between a given pair of vertices for any givenk. The time complexity of our algorithm is . Our algorithm uses some properties of DAGs with the concave Monge property together with the parametric search technique. We apply our algorithm to get efficient solutions for the following problems, improving on previous results: (1) Finding the largestk-gon contained in a given convex polygon. (2) Finding the smallestk-gon that is the intersection ofk half-planes out ofn half-planes defining a convexn-gon. (3) Computing maximumk-cliques of an interval graph. (4) Computing length-limited Huffman codes. (5) Computing optimal discrete quantization.     

Oriented Interval Greedoids

We propose a definition of an oriented interval greedoid that simultaneously generalizes the notion of an oriented matroid and the construction on antimatroids introduced by L.J. Billera, S.K. Hsiao, and J.S. Provan in Enumeration in convex geometries and associated polytopal subdivisions of spheres (Discrete Comput. Geom. 39(1–3):123–137, 2008). As for oriented matroids, associated to each oriented interval greedoid is a spherical simplicial complex whose face enumeration depends only on the underlying interval greedoid.     

Integrating operations research in constraint programming

This paper presents constraint programming (CP) as a natural formalism for modelling problems, and as a flexible platform for solving them. CP has a range of techniques for handling constraints including several forms of propagation and tailored algorithms for global constraints. It also allows linear programming to be combined with propagation and novel and varied search techniques which can be easily expressed in CP. The paper describes how CP can be used to exploit linear programming within different kinds of hybrid algorithm. In particular it can enhance techniques such as Lagrangian relaxation, Benders decomposition and column generation.     

Optimal labeling of point features in rectangular labeling models

 We investigate the NP–hard label number maximization problem (LNM): Given a set of rectangular labels Λ, each of which belongs to a point feature in the plane, the task is to find a labeling for a largest subset Λ _P of Λ. A labeling is a placement such that none of the labels overlap and each λΛ _P is placed according to a labeling model: In the discrete models, the label must be placed so that the labeled point coincides with an element of a predefined subset of corners of the rectangular label, in the continuous or slider models, the point must lie on a subset of boundaries of the label. Obviously, the slider models allow a continuous movement of a label around its point feature, leading to a significantly higher number of labels that can be placed. We present exact algorithms for this problem that are based on a pair of so-called constraint graphs that code horizontal and vertical positioning relations. The key idea is to link the two graphs by a set of additional constraints, thus characterizing all feasible solutions of LNM. This enables us to formulate a zero-one integer linear program whose solution leads to an optimal labeling. We can express LNM in both the discrete and the slider labeling models. To our knowledge, we present the first algorithm that computes provably optimal solutions in the slider models. We find it remarkable that our approach is independent of the labeling model and results in a discrete algorithm even if the problem is of continuous nature as in the slider models. Extensive experimental results on both real-world instances and point sets created by a widely used benchmark generator show that the new approach - although being an exponential time algorithm - is applicable in practice. Received: November 20, 2000 / Accepted: April 9, 2002 Published online: September 5, 2002 RID="★" ID="★" This work is partially supported by the German Bundesministerium für Bildung, Wissenschaft, Forschung und Technologie (No. 03-MU7MP1-4). Key words. map labeling – point feature map labeling – constraint graphs – combinatorial optimization – integer programming     

O(n) Procedures for identifying maximal cliques and non-dominated extensions of consecutive minimal covers and alternates

Summary In this paper, we describe computationally efficient procedures for identifying all maximal cliques and non-dominated selected subsets of extensions of minimal covers and alternates that are implied by single 0–1 knapsack constraints. The induced inequalities are satisfied by and 0–1 feasible solution to the knapsack constraint, but are tipically violated by fractional solutions. In addition, the procedures described here are used in conjunction with other constraints to further tighten LP relaxations of 0–1 programs. The complexity of the procedures isO(n). Part of this work has been done while the author was at IBM Research, T.J. Watson Research Center, NY, USA.     

Non-monotone trust region methods for nonlinear equality constrained optimization without a penalty function

 We propose and analyze a class of penalty-function-free nonmonotone trust-region methods for nonlinear equality constrained optimization problems. The algorithmic framework yields global convergence without using a merit function and allows nonmonotonicity independently for both, the constraint violation and the value of the Lagrangian function. Similar to the Byrd–Omojokun class of algorithms, each step is composed of a quasi-normal and a tangential step. Both steps are required to satisfy a decrease condition for their respective trust-region subproblems. The proposed mechanism for accepting steps combines nonmonotone decrease conditions on the constraint violation and/or the Lagrangian function, which leads to a flexibility and acceptance behavior comparable to filter-based methods. We establish the global convergence of the method. Furthermore, transition to quadratic local convergence is proved. Numerical tests are presented that confirm the robustness and efficiency of the approach. Received: December 14, 2000 / Accepted: August 30, 2001 Published online: September 27, 2002 Key words. nonmonotone trust-region methods – sequential quadratic programming – penalty function – global convergence – equality constraints – local convergence – large-scale optimization Mathematics Subject Classification (2000): 65K05, 90C30     

On global warming: Flow-based soft global constraints

In case a CSP is over-constrained, it is natural to allow some constraints, called soft constraints, to be violated. We propose a generic method to soften global constraints that can be represented by a flow in a graph. Such constraints are softened by adding violation arcs to the graph and then computing a minimum-weight flow in the extended graph to measure the violation. We present efficient propagation algorithms, based on different violation measures, achieving domain consistency for the alldifferent constraint, the global cardinality constraint, the regular constraint and the same constraint. This work was for a large part carried out while the author was at the Centrum voor Wiskunde en Informatica, Amsterdam, The Netherlands     

A faster capacity scaling algorithm for minimum cost submodular flow

We describe an O(n ⁴ hmin{logU,n ²logn}) capacity scaling algorithm for the minimum cost submodular flow problem. Our algorithm modifies and extends the Edmonds–Karp capacity scaling algorithm for minimum cost flow to solve the minimum cost submodular flow problem. The modification entails scaling a relaxation parameter δ. Capacities are relaxed by attaching a complete directed graph with uniform arc capacity δ in each scaling phase. We then modify a feasible submodular flow by relaxing the submodular constraints, so that complementary slackness is satisfied. This creates discrepancies between the boundary of the flow and the base polyhedron of a relaxed submodular function. To reduce these discrepancies, we use a variant of the successive shortest path algorithm that augments flow along minimum cost paths of residual capacity at least δ. The shortest augmenting path subroutine we use is a variant of Dijkstra’s algorithm modified to handle exchange capacity arcs efficiently. The result is a weakly polynomial time algorithm whose running time is better than any existing submodular flow algorithm when U is small and C is big. We also show how to use maximum mean cuts to make the algorithm strongly polynomial. The resulting algorithm is the first capacity scaling algorithm to match the current best strongly polynomial bound for submodular flow. Received: August 6, 1999 / Accepted: July 2001?Published online October 2, 2001     

Strong Kuhn–Tucker conditions and constraint qualifications in locally Lipschitz multiobjective optimization problems

We consider a Pareto multiobjective optimization problem with a feasible set defined by inequality and equality constraints and a set constraint, where the objective and inequality constraints are locally Lipschitz, and the equality constraints are Fréchet differentiable. We study several constraint qualifications in the line of Maeda (J. Optim. Theory Appl. 80: 483–500, 1994) and, under the weakest ones, we establish strong Kuhn–Tucker necessary optimality conditions in terms of Clarke subdifferentials so that the multipliers of the objective functions are all positive.