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Global Constraints

Toby Walsh National ICT Australia and University of New South Wales www.cse.unsw.edu.au/~tw. Global Constraints . Course outline. Introduction All Different Lex ordering Value precedence Complexity GAC-Schema Soft Global Constraints Global Grammar Constraints Roots Constraint

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Global Constraints

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  1. Toby Walsh National ICT Australia and University of New South Wales www.cse.unsw.edu.au/~tw Global Constraints

  2. Course outline • Introduction • All Different • Lex ordering • Value precedence • Complexity • GAC-Schema • Soft Global Constraints • Global Grammar Constraints • Roots Constraint • Range Constraint • Slide Constraint • Global Constraints on Sets

  3. Value precedence • Global constraint proposed to deal with value symmetry • Hot off the press! • Propagator first described here [ECAI 06] • Good example of “global” constraint where we can use an efficient encoding • Encoding gives us GAC • Asymptotically optimal, achieve GAC in O(nd) time

  4. Value symmetry • Decision variables: • Col[Italy], Col[France], Col[Austria] ... • Domain of values: • red, yellow, green, ... • Constraints • binary relations like Col[Italy]=/=Col[France] Col[Italy]=/=Col[Austria] …

  5. Value symmetry • Solution: • Col[Italy]=green Col[France]=red Col[Spain]=green … • Values (colours) are interchangeable: • Swap red with green everywhere will still give us a solution

  6. Value symmetry • Solution: • Col[Italy]=green Col[France]=red Col[Spain]=green … • Values (colours) are interchangeable: • Col[Italy]=red Col[France]=green Col[Spain]=red …

  7. Value precedence • Old idea • Used in bin-packing and graph colouring algorithms • Only open the next new bin • Only use one new colour • Applied now to constraint satisfaction

  8. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1

  9. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1 • For X2, we need only consider two choices • X2=1 or X2=2

  10. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1 • For X2, we need only consider two choices • Suppose we try X2=2

  11. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1 • For X2, we need only consider two choices • Suppose we try X2=2 • For X3, we need only consider three choices • X3=1, X3=2, X3=3

  12. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1 • For X2, we need only consider two choices • Suppose we try X2=2 • For X3, we need only consider three choices • Suppose we try X3=2

  13. Value precedence • Suppose all values from 1 to m are interchangeable • Might as well let X1=1 • For X2, we need only consider two choices • Suppose we try X2=2 • For X3, we need only consider three choices • Suppose we try X3=2 • For X4, we need only consider three choices • X4=1, X4=2, X4=3

  14. Value precedence • Global constraint • Precedence([X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) for all j<k • In other words • The first time we use j is before the first time we use k

  15. Value precedence • Global constraint • Precedence([X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) for all j<k • In other words • The first time we use j is before the first time we use k • E.g • Precedence([1,1,2,1,3,2,4,2,3]) • But not Precedence([1,1,2,1,4])

  16. Value precedence • Global constraint • Precedence([X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) for all j<k • In other words • The first time we use j is before the first time we use k • E.g • Precedence([1,1,2,1,3,2,4,2,3]) • But not Precedence([1,1,2,1,4]) • Proposed by [Law and Lee 2004] • Pointer based propagator (alpha, beta, gamma) but only for two interchangeable values at a time

  17. Value precedence • Precedence([i,j],[X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) • Of course • Precedence([X1,..Xn]) iff Precedence([i,j],[X1,..Xn]) for all i<j

  18. Value precedence • Precedence([i,j],[X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) • Of course • Precedence([X1,..Xn]) iff Precedence([i,j],[X1,..Xn]) for all i<j • Precedence([X1,..Xn]) iff Precedence([i,i+1],[X1,..Xn]) for all i

  19. Value precedence • Precedence([i,j],[X1,..Xn]) iff min({i | Xi=j or i=n+1}) < min({i | Xi=k or i=n+2}) • Of course • Precedence([X1,..Xn]) iff Precedence([i,j],[X1,..Xn]) for all i<j • But this hinders propagation • GAC(Precedence([X1,..Xn])) does strictly more pruning than GAC(Precedence([i,j],[X1,..Xn])) for all i<j • Consider X1=1, X2 in {1,2}, X3 in {1,3} and X4 in {3,4}

  20. Puget’s method • Introduce Zj to record first time we use j • Add constraints • Xi=j implies Zj <= i • Zj=i implies Xi=j • Zi < Zi+1

  21. Puget’s method • Introduce Zj to record first time we use j • Add constraints • Xi=j implies Zj < I • Zj=i implies Xi=j • Zi < Zi+1 • Binary constraints • easy to implement

  22. Puget’s method • Introduce Zj to record first time we use j • Add constraints • Xi=j implies Zj < I • Zj=i implies Xi=j • Zi < Zi+1 • Unfortunately hinders propagation • AC on encoding may not give GAC on Precedence([X1,..Xn]) • Consider X1=1, X2 in {1,2}, X3 in {1,3}, X4 in {3,4}, X5=2, X6=3, X7=4

  23. Propagating Precedence • Simple ternary encoding • Introduce sequence of variables, Yi • Record largest value used so far • Y1=0

  24. Propagating Precedence • Simple ternary encoding • Post sequence of constraints C(Xi,Yi,Yi+1) for each 1<=i<=n These hold iff Xi<=1+Yi and Yi+1=max(Yi,Xi)

  25. Propagating Precedence • Simple ternary encoding • Post sequence of constraints • Easily implemented within most solvers • Implication and other logical primitives • GAC-Schema (alias “table” constraint) • …

  26. Propagating Precedence • Simple ternary encoding • Post sequence of constraints • C(Xi,Yi,Yi+1) for each 1<=i<=n • This decomposition is Berge-acyclic • Constraints overlap on one variable and form a tree

  27. Propagating Precedence • Simple ternary encoding • Post sequence of constraints • C(Xi,Yi,Yi+1) for each 1<=i<=n • This decomposition is Berge-acyclic • Constraints overlap on one variable and form a tree • Hence enforcing GAC on the decomposition achieves GAC on Precedence([X1,..Xn]) • Takes O(n) time • Also gives excellent incremental behaviour

  28. Propagating Precedence • Simple ternary encoding • Post sequence of constraints • C(Xi,Yi,Yi+1) for each 1<=i<=n • These hold iff Xi<=1+Yi and Yi+1=max(Yi,Xi) • Consider Y1=0, X1 in {1,2,3}, X2 in {1,2,3} and X3=3

  29. Precedence and matrix symmetry • Alternatively, could map into 2d matrix • Xij=1 iff Xi=j • Value precedence now becomes column symmetry • Can lex order columns to break all such symmetry • Alternatively view value precedence as ordering the columns of a matrix model

  30. Precedence and matrix symmetry • Alternatively, could map into 2d matrix • Xij=1 iff Xi=j • Value precedence now becomes column symmetry • However, we get less pruning this way • Additional constraint that rows have sum of 1 • Consider, X1=1, X2 in {1,2,3} and X3=1

  31. Precedence for set variables • Social golfers problem • Each foursome can be represented by a set of cardinality 4 • Values (golfers) within this set are interchangeable • Value precedence can be applied to such set variables • But idea is now conceptually more complex!

  32. Precedence for set variables • We might as well start with X1={1,2,3}

  33. Precedence for set variables • We might as well start with X1={1,2,3,4} • Now 1, 2, 3 and 4 are still symmetric

  34. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={2,5,6,7}

  35. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={2,5,6,7} • But if we permute 1 with 2 we get • X1’={1,2,3,4} and X2’={1,5,6,7} • And X2’ is lower than X2 in the multiset ordering

  36. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={1,5,6,7}

  37. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={1,5,6,7} • Let’s try X3={1,2,4,5}

  38. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={1,5,6,7} • Let’s try X3={1,2,4,5} • But if we permute 3 with 4 we get • X1’={1,2,3,4}, X2’={1,5,6,7} and X3’={1,2,3,5} • This is again lower in the multiset ordering

  39. Precedence for set variables • We might as well start with X1={1,2,3,4} • Let’s try X2={1,5,6,7} • Let’s try X3={1,2,3,5} • …

  40. Precedence for set variables • Precedence([S1,..Sn]) iff min(i, {i | j in Si & not(k in Si) or i=n+1}) < min(i, {i | k in Si & not(j in Si) or i=n+2}) for all j<k • In other words • The first time we distinguish apart j and k (by one appearing on its own), j appears and k does not

  41. Precedence for set variables • Precedence([S1,..Sn]) iff min(i, {i | j in Si & not(k in Si) or i=n+1}) < min(i, {i | k in Si & not(j in Si) or i=n+2}) for all j<k • To enforce BC • Consider 2d matrix, Xij=1 iff j in Si • This has column symmetry • Apply lex to this! • No longer row sum=1 and no loss in pruning

  42. Precedence for set variables • Precedence([S1,..Sn]) iff min(i, {i | j in Si & not(k in Si) or i=n+1}) < min(i, {i | k in Si & not(j in Si) or i=n+2}) for all j<k • To enforce BC • Consider 2d matrix, Xij=1 iff j in Si • This has column symmetry • Apply lex to this! • {1} subseteq S1 subseteq {1,2}, S2={2}, S3={1,2,3}

  43. Precedence for set variables • Set variables may have cardinality information • E.g. every set variable has 4 values • Solvers often include finite domain variable for the cardinality of a set variable • If we add such cardinality information, enforcing BC on Precedence([S1,..Sn]) is NP-hard! • More about this in the Complexity lecture

  44. Partial value precedence • Values may partition into equivalence classes • Values within each equivalence class are interchangeable • E.g. Shift1=nursePaul, Shift2=nursePeter, Shift3=nurseJane, Shift4=nursePaul ..

  45. Partial value precedence • Values may partition into equivalence classes • Values within each equivalence class are interchangeable • E.g. Shift1=nursePaul, Shift2=nursePeter, Shift3=nurseJane, Shift4=nursePaul .. If Paul and Jane have the same skills, we might be able to swap them (but not with Peter who is less qualified) Shift1=nurseJane, Shift2=nursePeter, Shift3=nursePaul, Shift4=nurseJane …

  46. Partial value precedence • Values may partition into equivalence classe • Value precedence easily generalized to cover this case • Within each equivalence class, vi occurs before vj for all i<j (ignore values from other equivalence classes)

  47. Partial value precedence • Values may partition into equivalence classe • Value precedence easily generalized to cover this case • Within each equivalence class, vi occurs before vj for all i<j (ignore values from other equivalence classes) • For example • Suppose vi are one equivalence class, and ui another

  48. Partial value precedence • Values may partition into equivalence classe • Value precedence easily generalized to cover this case • Within each equivalence class, vi occurs before vj for all i<j (ignore values from other equivalence classes) • For example • Suppose vi are one equivalence class, and ui another • X1=v1, X2=u1, X3=v2, X4=v1, X5=u2

  49. Partial value precedence • Values may partition into equivalence classe • Value precedence easily generalized to cover this case • Within each equivalence class, vi occurs before vj for all i<j (ignore values from other equivalence classes) • For example • Suppose vi are one equivalence class, and ui another • X1=v1, X2=u1, X3=v2, X4=v1, X5=u2 • Since v1, v2, v1 … and u1, u2, …

  50. Wreath value precedence • Variables are assigned pair of values in D1 x D2 • Values in D1 are interchangeable • Given a fixed value in D1, values in D2 are interchangeable

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