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IDB-ADOPT A Depth-First Search DCOP Algorithm.pdf

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IDB-ADOPT A Depth-First Search DCOP Algorithm

IDB-ADOPT : A Depth-First Search DCOP Algorithm William Yeoh?, Sven Koenig?, Ariel Felner? ?Computer Science Department University of Southern California Los Angeles, CA 90089-0781 {wyeoh,skoenig}@usc.edu ?Department of Information Systems Engineering Ben-Gurion University of the Negev Beer-Sheva, 85104, Israel felner@bgu.ac.il Abstract. Many agent coordination problems can be modeled as distributed con- straint optimization problems (DCOPs). ADOPT is an asynchronous and dis- tributed search algorithm that is able to solve DCOPs optimally. In this paper, we introduce Iterative Decreasing Bound ADOPT (IDB-ADOPT), a modification of ADOPT that changes the search strategy of ADOPT from performing one best- first search to performing a series of depth-first searches. Each depth-first search is provided with a bound, initially a large integer, and returns the first solution whose cost is smaller than or equal to the bound. The bound is then reduced to the cost of this solution minus one and the process repeats. If there is no solu- tion whose cost is smaller than or equal to the bound, it returns a cost-minimal solution. Thus, IDB-ADOPT is an anytime algorithm that solves DCOPs with in- teger costs optimally. Our experimental results for graph coloring problems show that IDB-ADOPT runs faster (that is, needs fewer cycles) than ADOPT on large DCOPs, with savings of up to one order of magnitude. 1 Introduction Many agent coordination problems can be modeled as distributed constraint optimiza- tion problems (DCOPs), including the scheduling of meetings [8], the coordination of unmanned aerial vehicles [14], and the allocation of targets to sensors in sensor net- works [7, 10, 13]. Unfortunately, solving DCOPs optimally is NP-hard. A variety of search algorithms have therefore been developed to solve DCOPs as fast as possible to scale up to real-world domains [9, 10, 12, 3]. ADOPT (Asynchronous Distributed Constraint Optimization) [10] is one of the pioneering DCOP algorithms