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The travelling salesman problem asks the following question: "Given a list of cities and the distances between each pair of cities, what is the shortest possible route that visits each city exactly once and returns to the origin city?" It is an NP-hard problem in combinatorial optimization, important in theoretical computer science and operations research.
A greedy algorithm is any algorithm that follows the problem-solving heuristic of making the locally optimal choice at each stage. In many problems, a greedy strategy does not produce an optimal solution, but a greedy heuristic can yield locally optimal solutions that approximate a globally optimal solution in a reasonable amount of time.
Combinatorial optimization is a subfield of mathematical optimization that is related to operations research, algorithm theory, and computational complexity theory. It has important applications in several fields, including artificial intelligence, machine learning, auction theory, software engineering, applied mathematics and theoretical computer science.
The Steiner tree problem, or minimum Steiner tree problem, named after Jakob Steiner, is an umbrella term for a class of problems in combinatorial optimization. While Steiner tree problems may be formulated in a number of settings, they all require an optimal interconnect for a given set of objects and a predefined objective function. One well-known variant, which is often used synonymously with the term Steiner tree problem, is the Steiner tree problem in graphs. Given an undirected graph with non-negative edge weights and a subset of vertices, usually referred to as terminals, the Steiner tree problem in graphs requires a tree of minimum weight that contains all terminals. Further well-known variants are the Euclidean Steiner tree problem and the rectilinear minimum Steiner tree problem.
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging.
In computer science and operations research, approximation algorithms are efficient algorithms that find approximate solutions to optimization problems with provable guarantees on the distance of the returned solution to the optimal one. Approximation algorithms naturally arise in the field of theoretical computer science as a consequence of the widely believed P ≠ NP conjecture. Under this conjecture, a wide class of optimization problems cannot be solved exactly in polynomial time. The field of approximation algorithms, therefore, tries to understand how closely it is possible to approximate optimal solutions to such problems in polynomial time. In an overwhelming majority of the cases, the guarantee of such algorithms is a multiplicative one expressed as an approximation ratio or approximation factor i.e., the optimal solution is always guaranteed to be within a (predetermined) multiplicative factor of the returned solution. However, there are also many approximation algorithms that provide an additive guarantee on the quality of the returned solution. A notable example of an approximation algorithm that provides both is the classic approximation algorithm of Lenstra, Shmoys and Tardos for scheduling on unrelated parallel machines.
Robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation.
Trajectory optimization is the process of designing a trajectory that minimizes some measure of performance while satisfying a set of constraints. Generally speaking, trajectory optimization is a technique for computing an open-loop solution to an optimal control problem. It is often used for systems where computing the full closed-loop solution is not required, impractical or impossible. If a trajectory optimization problem can be solved at a rate given by the inverse of the Lipschitz constant, then it can be used iteratively to generate a closed-loop solution in the sense of Caratheodory. If only the first step of the trajectory is executed for an infinite-horizon problem, then this is known as Model Predictive Control (MPC).
Motion planning, also path planning is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games.
The Euclidean shortest path problem is a problem in computational geometry: given a set of polyhedral obstacles in a Euclidean space, and two points, find the shortest path between the points that does not intersect any of the obstacles.
A rapidly exploring random tree (RRT) is an algorithm designed to efficiently search nonconvex, high-dimensional spaces by randomly building a space-filling tree. The tree is constructed incrementally from samples drawn randomly from the search space and is inherently biased to grow towards large unsearched areas of the problem. RRTs were developed by Steven M. LaValle and James J. Kuffner Jr. . They easily handle problems with obstacles and differential constraints and have been widely used in autonomous robotic motion planning.
In computational geometry and computer science, the minimum-weight triangulation problem is the problem of finding a triangulation of minimal total edge length. That is, an input polygon or the convex hull of an input point set must be subdivided into triangles that meet edge-to-edge and vertex-to-vertex, in such a way as to minimize the sum of the perimeters of the triangles. The problem is NP-hard for point set inputs, but may be approximated to any desired degree of accuracy. For polygon inputs, it may be solved exactly in polynomial time. The minimum weight triangulation has also sometimes been called the optimal triangulation.
In mathematics, the minimum k-cut, is a combinatorial optimization problem that requires finding a set of edges whose removal would partition the graph to at least k connected components. These edges are referred to as k-cut. The goal is to find the minimum-weight k-cut. This partitioning can have applications in VLSI design, data-mining, finite elements and communication in parallel computing.
In computer science the notion of highly connected subgraphs appears frequently. This notion can be formalized as follows. Let be an undirected graph and let be a subgraph of . Then the density of is defined to be .
In computability theory and computational complexity theory, especially the study of approximation algorithms, an approximation-preserving reduction is an algorithm for transforming one optimization problem into another problem, such that the distance of solutions from optimal is preserved to some degree. Approximation-preserving reductions are a subset of more general reductions in complexity theory; the difference is that approximation-preserving reductions usually make statements on approximation problems or optimization problems, as opposed to decision problems.
In computational geometry, the farthest-first traversal of a compact metric space is a sequence of points in the space, where the first point is selected arbitrarily and each successive point is as far as possible from the set of previously-selected points. The same concept can also be applied to a finite set of geometric points, by restricting the selected points to belong to the set or equivalently by considering the finite metric space generated by these points. For a finite metric space or finite set of geometric points, the resulting sequence forms a permutation of the points, also known as the greedy permutation.
In computer science and operations research, exact algorithms are algorithms that always solve an optimization problem to optimality.
In computer science, multiway number partitioning is the problem of partitioning a multiset of numbers into a fixed number of subsets, such that the sums of the subsets are as similar as possible. It was first presented by Ronald Graham in 1969 in the context of the Identical-machines scheduling problem. The problem is parametrized by a positive integer k, and called k-way number partitioning. The input to the problem is a multiset S of numbers, whose sum is k*T.
Identical-machines scheduling is an optimization problem in computer science and operations research. We are given n jobs J1, J2, ..., Jn of varying processing times, which need to be scheduled on m identical machines, such that a certain objective function is optimized, for example, the makespan is minimized.
References
- ↑ Donald, B.; Xavier, P.; Canny, J.; Reif, J. (1993), "Kinodynamic motion planning" (PDF), Journal of the ACM, 40 (5): 1048–1066, CiteSeerX 10.1.1.51.1443 , doi:10.1145/174147.174150
- ↑ Donald, B.; Xavier, P. (1995), "Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open chain manipulators" (PDF), Algorithmica, 14 (56): 480–530, doi:10.1007/BF01586637
- ↑ Donald, B.; Xavier, P. (1995), "Provably good approximation algorithms for optimal kinodynamic planning: Robots with decoupled dynamics bounds" (PDF), Algorithmica, 14 (56): 443–479, doi:10.1007/BF01586636