Abstract-- This article proposes the first known algorithm that achieves a constant-factor approximation of the minim um length tour for a Dubins' vehicle through n points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at constant speed along paths with bounded curvature without reversing direction. The Traveling Salesperson Problem (TSP) with its variations is one of the most widely known combinatorial optimization problems. While extensively studied in the literature, these problems continue to attract great inter est from a wide range of fields, including Operations Research, Mathematics and Computer Science. It is quite natural to formulate this problem in context of Dubins' vehicle, i.e., a non-holonomic vehicl e that is constrained to move along paths of bounded curvature, without reversing direction.

The problem of designing optimal trajectory for redundant manipulators has attracted many researchers for the last three decades. One of the main reasons is the use of kinematically redundant robots is expected to increase in the future due to their increased flexibility. Some of the extra capabilities include the ability to avoid internal singularities or exte rnal obstacles over their entire workspace (Parket et al.,1989). Also, the inverse kinematics problem is underdetermined and admits an infinite number of distinct feasible solutions, meaning that a given end-effector pos es can be realized by an infinite number of distinct manipulator configurations (McAvoy, et al, 2000). In order to overcome the shortcomings inherent in non-redundant robots, redundant robots have been utilized in industrial applications to increase fl exibility and dexterity around a restricted task space in pres ence of obstacle.

Preference queries are relational algebra or SQL queries that contain occurrences of the winnow operator ("find the most preferred tuples in a given relation"). Such queries are parameterized by specific preference relations. Semantic optimization techniques make use of integrity constraints holding in the database. In the context of semantic optimization of preference queries, we identify two fundamental properties: containment of preference relations relative to integrity constraints and satisfaction of order axioms relative to integrity constraints. We show numerous applications of those notions to preference query evaluation and optimization. As integrity constraints, we consider constraint-generating dependencies, a class generalizing functional dependencies. We demonstrate that the problems of containment and satisfaction of order axioms can be captured as specific instances of constraint-generating dependency entailment. This makes it possible to formulate necessary and sufficient conditions for the applicability of our techniques as constraint validity problems. We characterize the computational complexity of such problems.

Often times, individuals working together as a team can solve hard problems beyond the capability of any individual in the team. Cooperative optimization is a newly proposed general method for attacking hard optimization problems inspired by cooperation principles in team playing. It has an established theoretical foundation and has demonstrated outstanding performances in solving real-world optimization problems. With some general settings, a cooperative optimization algorithm has a unique equilibrium and converges to it with an exponential rate regardless initial conditions and insensitive to perturbations. It also possesses a number of global optimality conditions for identifying global optima so that it can terminate its search process efficiently. This paper offers a general description of cooperative optimization, addresses a number of design issues, and presents a case study to demonstrate its power.

In query learning, the goal is to identify an unknown object while minimizing the number of "yes or no" questions (queries) posed about that object. We consider three extensions of this fundamental problem that are motivated by practical considerations in real-world, time-critical identification tasks such as emergency response. First, we consider the problem where the objects are partitioned into groups, and the goal is to identify only the group to which the object belongs. Second, we address the situation where the queries are partitioned into groups, and an algorithm may suggest a group of queries to a human user, who then selects the actual query. Third, we consider the problem of query learning in the presence of persistent query noise, and relate it to group identification. To address these problems we show that a standard algorithm for query learning, known as the splitting algorithm or generalized binary search, may be viewed as a generalization of Shannon-Fano coding. We then extend this result to the group-based settings, leading to new algorithms. The performance of our algorithms is demonstrated on simulated data and on a database used by first responders for toxic chemical identification.

This article considers the task of automatically inducing role-semantic annotations in the FrameNet paradigm for new languages. We propose a general framework that is based on annotation projection, phrased as a graph optimization problem. It is relatively inexpensive and has the potential to reduce the human effort involved in creating role-semantic resources. Within this framework, we present projection models that exploit lexical and syntactic information. We provide an experimental evaluation on an English-German parallel corpus which demonstrates the feasibility of inducing high-precision German semantic role annotation both for manually and automatically annotated English data.

The survey propagation (SP) algorithm has been shown to work well on large instances of the random 3-SAT problem near its phase transition. It was shown that SP estimates marginals over covers that represent clusters of solutions. The SP-y algorithm generalizes SP to work on the maximum satisfiability (Max-SAT) problem, but the cover interpretation of SP does not generalize to SP-y. In this paper, we formulate the relaxed survey propagation (RSP) algorithm, which extends the SP algorithm to apply to the weighted Max-SAT problem. We show that RSP has an interpretation of estimating marginals over covers violating a set of clauses with minimal weight. This naturally generalizes the cover interpretation of SP. Empirically, we show that RSP outperforms SP-y and other state-of-the-art Max-SAT solvers on random Max-SAT instances. RSP also outperforms state-of-the-art weighted Max-SAT solvers on random weighted Max-SAT instances.

The identification of performance-optimizing parameter settings is an important part of the development and application of algorithms. We describe an automatic framework for this algorithm configuration problem. More formally, we provide methods for optimizing a target algorithms performance on a given class of problem instances by varying a set of ordinal and/or categorical parameters. We review a family of local-search-based algorithm configuration procedures and present novel techniques for accelerating them by adaptively limiting the time spent for evaluating individual configurations. We describe the results of a comprehensive experimental evaluation of our methods, based on the configuration of prominent complete and incomplete algorithms for SAT. We also present what is, to our knowledge, the first published work on automatically configuring the CPLEX mixed integer programming solver. All the algorithms we considered had default parameter settings that were manually identified with considerable effort. Nevertheless, using our automated algorithm configuration procedures, we achieved substantial and consistent performance improvements.

This paper presents a new method and a constraint-based objective function to solve two problems related to the design of optical telecommunication networks, namely the Synchronous Optical Network Ring Assignment Problem (SRAP) and the Intra-ring Synchronous Optical Network Design Problem (IDP). These network topology problems can be represented as a graph partitioning with capacity constraints as shown in previous works. We present here a new objective function and a new local search algorithm to solve these problems. Experiments conducted in Comet allow us to compare our method to previous ones and show that we obtain better results.

Solving multiagent planning problems modeled as DEC-POMDPs is an important challenge.  These models are often solved by using dynamic programming, but the high resource usage of current approaches results in limited scalability.  To improve the efficiency of dynamic programming algorithms, we propose a new backup algorithm that is based on a reachability analysis of the state space.  This method, which we call incremental policy generation, can be used to produce an optimal solution for any possible initial state or further scalability can be achieved by making use of a known start state. When incorporated into the optimal dynamic programming algorithm, our experiments show that planning horizon can be increased due to a marked reduction in resource consumption. This approach also fits nicely with approximate dynamic programming algorithms.  To demonstrate this, we incorporate it into the state-of-the-art PBIP algorithm and show significant performance gains.  The results suggest  that the performance of other dynamic programming algorithms for DEC-POMDPs could be similarly improved by integrating the incremental policy generation approach.