Multi-robot teams are useful in a variety of task allocation domains such as warehouse automation and surveillance. Robots in such domains perform tasks at given locations and specific times, and are allocated tasks to optimize given team objectives. We propose an efficient, satisficing and centralized Monte Carlo TreeSearch based algorithm exploiting branch and bound paradigm to solve the multi-robot task allocation problem with spatial, temporal and other side constraints. Unlike previous heuristics proposed for this problem, our approach offers theoretical guarantees and finds optimal solutions for some non-trivial data sets.

Identifying a small number of features that can represent the data is believed to be NP-hard. Previous approaches exploit algebraic structure and use randomization. We propose an algorithm based on ideas similar to the Weighted A* algorithm in heuristic search. Our experiments show this new algorithm to be more accurate than the current state of the art.

While many computer science programs offer courses on research methods, such classes typically tend to be aimed at graduate students. In this paper, we propose a novel means for introducing undergraduate students to research experiences in computer science — via an introductory Artificial Intelligence (A.I.) course. Students explore the content areas typically covered in an upper-level A.I. course (heuristic search, constraint satisfaction, game-playing etc.), while also learning about the mechanics of how empirical research is conducted in this field.

We describe the experimental development of an AI player that adapts to different point systems for Parameterized Poker Squares. After introducing the game and research competition challenge, we describe our static board evaluation utilizing learned evaluations of abstract partial Poker hands. Next, we evaluate various time management strategies and search algorithms. Finally, we show experimentally which of our design decisions most signicantly accounted for observed performance.

We investigated Parameterized Poker Squares to approximate an optimal game playing agent. We organized our inquiry along three dimensions: partial hand representation, search algorithms, and partial hand utility learning. For each dimension we implemented and evaluated several designs, among which we selected the best strategies to use for BeeMo, our final product. BeeMo uses a parallel flat Monte-Carlo search. The search is guided by a heuristic based on hand patterns utilities, which are learned through an iterative improvement method involving Monte-Carlo simulations and optimized greedy search.

The pruning power of partial symmetry breaking depends on the given subset of symmetries to break as well as the interactions among symmetry breaking constraints. In the context of Partial Symmetry Breaking During Search (ParSBDS), the search order determines the set of symmetry breaking constraints to add and thus also makes an impact on node and solution pruning. In this paper, we give the first formal characterization of the pruning behavior of ParSBDS and its improved variants. Introducing the notion of Dominance-Completeness (DC-ness), we show that ParSBDS and variants eliminate the symmetry group of the given subset of symmetries if the resultant search tree is DC, and give an example scenario. Unfortunately, building a DC tree is not always possible. We propose two search heuristics with the aim of having more nodes dominated and thus also pruned during search. Extensive experimentation demonstrates how the proposed heuristics and their combination can drastically reduce the solution set size, search space and runtime when compared against the state-of-the-art static and dynamic symmetry breaking methods.

We present MM, the first bidirectional heuristic search algorithm whose forward and backward searches are guaranteed to ''meet in the middle'', i.e. never expand a node beyond the solution midpoint. We also present a novel framework for comparing MM, A*, and brute-force search, and identify conditions favoring each algorithm. Finally, we present experimental results that support our theoretical analysis.

Algorithms for NP-complete problems often have different strengths andweaknesses, and thus algorithm portfolios often outperform individualalgorithms. It is surprisingly difficult to quantify a component algorithm's contributionto such a portfolio. Reporting a component's standalone performance wronglyrewards near-clones while penalizing algorithms that have small but distinctareas of strength. Measuring a component's marginal contribution to an existingportfolio is better, but penalizes sets of strongly correlated algorithms,thereby obscuring situations in which it is essential to have at least onealgorithm from such a set. This paper argues for analyzing component algorithmcontributions via a measure drawn from coalitional game theory---the Shapleyvalue---and yields insight into a research community's progress over time. Weconclude with an application of the analysis we advocate to SAT competitions,yielding novel insights into the behaviour of algorithm portfolios, theircomponents, and the state of SAT solving technology.

This paper explores the anytime performance of search-based algorithms for solving the Marginal MAP task over graphical models. The current state of the art for solving this challenging task is based on best-first search exploring the AND/OR graph with the guidance of heuristics based on mini-bucket and variational cost-shifting principles. Yet, those schemes are uncompromising in that they solve the problem exactly, or not at all, and often suffer from memory problems. In this work, we explore the well known principle of weighted search for converting best-first search solvers into anytime schemes. The weighted best-first search schemes report a solution early in the process by using inadmissible heuristics, and subsequently improve the solution. While it was demonstrated recently that weighted schemes can yield effective anytime behavior for pure MAP tasks, Marginal MAP is far more challenging (e.g., a conditional sum must be evaluated for every solution). Yet, in an extensive empirical analysis we show that weighted schemes are indeed highly effective for Marginal MAP yielding the most competitive schemes to date for this task.

We consider the problem of sampling from a discrete probability distribution specified by a graphical model. Exact samples can, in principle, be obtained by computing the mode of the original model perturbed with an exponentially many i.i.d. random variables. We propose a novel algorithm that views this as a combinatorial optimization problem and searches for the extreme state using a standard integer linear programming (ILP) solver, appropriately extended to account for the random perturbation. Our technique, GumbelMIP, leverages linear programming (LP) relaxations to evaluate the qualityof samples and prune large portions of the search space, and can thus scale to large tree-width models beyond the reach of current exact inference methods. Further, when the optimization problem is not solved to optimality, our method yields a novel approximate sampling technique. We empirically demonstrate that our approach parallelizes well, our exact sampler scales better than alternative approaches, and our approximate sampler yields better quality samples than a Gibbs sampler and a low-dimensional perturbation method.