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Hedging uncertainty Approximation algorithms for stochastic optimization problems

Hedging uncertainty Approximation algorithms for stochastic optimization problems
Hedging uncertainty Approximation algorithms for stochastic optimization problems

Hedging Uncertainty:Approximation Algorithms for Stochastic

Optimization Problems

R.Ravi?Amitabh Sinha?

August20,2003

Abstract

We initiate the design of approximation algorithms for stochastic combinatorial optimization prob-lems;we formulate the problems in the framework of two-stage stochastic optimization,and provide

nearly tight approximation algorithms.Our problems range from the simple(shortest path,vertex

cover,bin packing)to complex(facility location,set cover),and contain representatives with di?erent

approximation ratios.

The approximation ratio of the stochastic variant of a typical problem is of the same order of mag-nitude as its deterministic counterpart.Furthermore,common techniques for designing approximation

algorithms such as LP rounding,the primal-dual method,and the greedy algorithm,can be carefully

adapted to obtain these results.

1Introduction

With the increasing success of optimization algorithms in process optimization,these methods are making inroads into earlier planning stages of large scale projects.The inherent di?erence between optimization at the planning stage and post-facto optimization is that in the former,data is not fully available.Yet costly decisions with wide-ranging implications need to be taken in the face of incomplete data.Nevertheless, quite often forecasts of future uncertainty are available that can be used in the planning model.Forecasts, by nature,are imprecise and provide at best a range of possible futures.The?eld of stochastic optimization is an attempt to model such situations.For a detailed introduction,please consult one of the recent texts on the topic(Birge and Louveaux,1997;Kall and Wallace,1994;Klein Haneveld and van der Vlerk,2003).

In a parallel development,the?eld of approximation algorithms evolved to counter the prohibitive resource requirements for exact solution of NP-hard combinatorial optimization https://www.wendangku.net/doc/5216649773.html,rmally,these algorithms run in polynomial time and deliver a performance ratio on the quality of the output solution over all instances.As the size of the models being solved increases in scale,this solution approach gains in importance.For a detailed exposition of this topic,the reader is referred to Vazirani(2001)and Ausiello et al(1999).

However,as approximation algorithms become more sophisticated in scope and technique,the refrain from real-world practitioners who have the need for such algorithms is that the input data is seldom well-de?ned,thus diminishing the value of the solutions and guarantees provided by the algorithm.Conversely, while the?eld of stochastic optimization models the uncertainty in data fairly well,the running times of ?GSIA,Carnegie Mellon University,Pittsburgh PA15213.ravi@https://www.wendangku.net/doc/5216649773.html,

?GSIA,Carnegie Mellon University,Pittsburgh PA15213.asinha@https://www.wendangku.net/doc/5216649773.html,

the exact algorithms developed in the stochastic optimization community often prove prohibitive.This paper combines the best of both worlds,by providing approximation algorithms for the stochastic version of several classical optimization problems.

2Background

2.1Two-stage model

Among the most popular models in stochastic optimization is the two-stage model with recourse.At the outset,some data may be known deterministically,whereas the uncertain future is characterized only by a probability distribution.The decisions made at this point are referred to as the?rst-stage decisions. Subsequently,the actual future is realized,and then there may be the opportunity to augment the?rst-stage solution in order to optimized for the realized scenario.This second stage of decision making is called the recourse stage.The goal is to optimize the?rst-stage decision variables so as to minimize the expected cost over both stages.

2.2Mathematical formulation

Formally,a two-stage stochastic optimization problem with recourse is de?ned as follows.Vector x is the set of decision variables which have to be?xed in the?rst stage,when only partial information is available. Later,full information is made available and we choose some second-stage(or recourse)variables x to augment the?rst-stage solution x0.Letξrepresent the random vector which de?nes the constraint matrix T,cost vector q and requirement vector h when the full information is made available,and let A,c,and b de?ne the same for the?rst stage.Let P denote additional constraints such as non-negativity or integrality which the components of x0and x need to satisfy.The stochastic program can be written as:

min c T x0+EξQ(x0,ξ)(IP S1)

s.t.Ax0=b

x0∈P

where Q(x0,ξ)=min q T x

s.t.T(x0,x )=h

x ∈P

Here Q(x0,ξ)represents the optimal cost of the second stage,conditioned on scenarioξ=(q,T,h) having been realized and a?rst-stage setting of the variables x0.The expectation is taken with respect to ξ.

2.3Stochastic optimization with?nite scenarios

A popular restriction of the two-stage model is where the second stage is characterized by a?nite set of m scenarios.In scenario k,the constraint matrix,cost vector and requirement vector take on values T k,q k and h k respectively,and scenario k occurs with probability p k.In this case,we can write IP S1in extensive form as follows,where x k represents our choice for the variable x if scenario k materializes:

min c T x0+

m

k=1

p k(q k)T x k(IP S2)

s.t.Ax0=b

T k(x0,x k)=h k k=1,2,...,m

(x0,x k)∈P k=1,2,...,m

The interested reader may refer to any of the texts cited above for a more complete description of models of stochastic optimization and their uses.Schultz,Stougie and van der Vlerk(1996)provide an excellent survey of two-stage stochastic integer programming,while Kong and Schaefer(2003)recently provided approximation algorithms for a class of such problems.The relevance of the?nite scenario model becomes more pronounced in light of the recent work on scenario reduction by Heitsch and R¨o misch(2003).

2.4Approximation algorithms

The raison d’etre for approximation algorithms is the prohibitively high running time of exact algorithms for integer programming and combinatorial optimization,due to their NP-completeness.Approximation algorithms are therefore required to run in time polynomial in the size of the input.At the same time, they provide guarantees in the form of approximation ratios.If C is a class of minimization problems and OP T(I)and A(I)respectively denote the value of an optimal solution and the solution output by algorithm A,then the approximation ratioρ(A)of algorithm A is de?ned as follows:

ρ(A)=max

I∈C

A(I) OP T(I)

The area of approximation algorithms has been one of the most active areas of optimization in the past decade.However,barring a few exceptions,most approximation algorithms assume complete knowledge of the input at the outset.Skutella and Uetz(2001)and Mohring,Schulz and Uetz(1999)studied approxima-tion algorithms for scheduling problems,while Karger and Minko?(2000)considered a Steiner tree problem in a slightly di?erent model of stochastic optimization.

2.5Our results

The aims of this paper are multifarious.We demonstrate the relevance and applicability of developing approximation algorithms for stochastic optimization problems.We carefully adapt existing techniques for deterministic versions of the problems we study to provide approximation guarantees for the stochastic versions within constant factors.

We provide polynomial time approximation algorithms for several classical combinatorial optimization problems,in a two-stage stochastic optimization setting with?nitely many scenarios.Our results are sum-marized in Figure1.The current best known deterministic approximations are listed,with a“1”meaning that the problem can be solved optimally in polynomial time.All the stochastic approximation ratios are derived in this paper.Some of the hardness results are carried over from the underlying deterministic problems;these are mentioned with citations.The remaining are proved in this paper.

In the table in Figure1,we use m to refer to the number of scenarios and n to refer to the number of combinatorial elements(the number of vertices in the shortest paths problems and the number of elements

Problem

Det.Stochastic Stochastic Hardness approx.elements approximation Shortest

1[9]Sink O(1)MAX-SNP paths

Sink and metric O (log 2n log m )?(log 2n )Bin packing

APTAS[7]Object sizes APTAS NP-complete[7]Facility

1.52[26]Client demands,8 1.46[12]location

facility costs Vertex cover

2[28]Vertex weights,2 1.16[15]Incidence Set cover O (log n )[17]Set weights,O (log nm )?(log n )[1],

Set inclusions

?(log m )Figure 1:Summary of results.

in the set cover problem).An APTAS (Ausiello et al,1999)is an asymptotic polynomial time approximation scheme,which is an algorithm whose performance ratio approaches 1as the number of objects increases.A problem is said to be MAX-SNP-hard (Papadimitriou and Yannakakis 1991),abbreviated MAX-SNP in the table,if there is a constant c >1such that it is impossible to approximate the problem with performance ratio smaller than c unless P =NP .

In the sequel,we consider the ?ve problems in the order listed in Figure 1.Approximation algorithms and hardness results for the underlying deterministic versions of each of these problems are surveyed,and the algorithms for the stochastic versions are presented.

3Shortest paths

Motivation

Consider a supplier who wishes to ship a single unit of a good to a single destination t from a single source s ,in a graph where the shipping cost is just the cost of the edge.The solution to this problem is to compute a shortest path from s to t ,and this can be easily done in polynomial time,for example by using the algorithm due to Dijkstra (1959).

Now consider the following stochastic extension.The supplier does not know in advance what the destination is going to be.In particular,any of m scenarios could materialize,with the destination being t k in scenario k .The supplier could enter into contracts in stage 1to ship the good along edge e at cost c e ,but this might be disadvantageous if the destination turns out to be in the opposite direction.However,if the supplier decides to wait for the scenarios to materialize,then the cost of edge e in scenario k changes to f k c e ,which could be disadvantageous if f k is large.Hence the supplier might wish to reserve some edges now at cost c e ,and augment the network in scenario k if necessary.

Problem de?nition We are given a graph G =(V,E ),with metric edge costs c e and a single source s ∈V .We also have a set of m scenarios,with scenario k speci?ed by a destination vertex t k ∈V ,a cost scale factor f k ,and a probability p k .A feasible solution is speci?ed by a set of edges E ?E .The ?rst-stage cost of this solution is e ∈E c e ,and in scenario k ,a second stage solution is a path P k from s to t k ;for

the second stage costs,we assume the edges in P k bought in the ?rst stage,namely in E ,have cost zero,while the remaining edges are increased in cost by factor f k ,giving second-stage cost f k e ∈P k \E c e .The objective is to compute E which minimizes the sum of ?rst stage edge costs and expected second stage edge costs.We abbreviate this problem as SSP (stochastic shortest paths).

While it is not obvious that E even induces a connected component,the following lemma proves that E is indeed connected;in fact,it is a tree.

Lemma 1The set of edges E bought in the ?rst stage in an optimal solution to SSP induces a tree containing the source s .

Proof:Suppose for a contradiction there is another connected component C s .Let K be the set of scenarios for which the optimal solution uses at least one edge in C ,and let E s be the connected component of ?rst-stage edges which include the source s .For optimality,it must be the case that for every edge e ∈C ,we have P k e p k f k ≥1,implying that k ∈K f k ≥1.

Now consider the paths used in the scenarios in K .Let k 0be the scenario in which the second-stage cost of the segment from C to the source is the cheapest.If we re-route the paths of all scenarios in K to using the path to using the path of k 0from the point the other scenario paths intersect C ,then since k ∈K f k ≥1,the total cost cannot increase.Therefore,we can purchase these edges (which we used for re-routing),and this does not increase the cost.

Proceeding this way for other components,we infer that E ?induces a connected graph containing s ,which need be no more than a tree since the second stage solutions only look for a single path to s .

2Interpretation as a network design problem Armed with the above lemma,SSP can be interpreted as the tree-star network design problem,de?ned as follows.In tree-star network design,demand nodes have a demand for d j units of goods to be shipped to a source.A feasible solution is speci?ed by a tree,with the cost of the solution being M times the cost of the tree (for pre-speci?ed M )plus the length of the shortest path from each demand node to the tree,weighted by the demand at the node.A constant-factor approximation algorithm for this problem was ?rst provided by Ravi and Salman (1999),and it has also been studied subsequently as the connected facility location problem (Karger and Minko?,2000;Kumar and Swamy,2002),and the asymmetric VPN design problem (Gupta et al,2001).

Theorem 1There is a polynomial-time constant-factor approximation algorithm for SSP.

Proof:SSP is equivalent to the tree-star network design problem,via the following transformation.The ?xed cost multiplier of the tree M is set to 1.The demand of each node t k is set to f k p k .Now purchasing a tree T in stage 1for SSP is equivalent to building T in the tree-star problem.The expected second stage cost is exactly m k =1p k f k dist(t k ,T ),which is the same as incurred in the tree-star problem when the demand at node t k is p k f k .2The equivalence of SSP and tree-star network design also implies the NP-hardness of SSP.Note that SSP is di?erent from the maybecast problem studied by Karger and Minko?(2000),because in their model,each node is a terminal independently with a certain probability,edge costs do not change across scenarios,and the solution is required to be a single tree spanning all potential terminals.

3.1Stochastic metric

The problem becomes even more interesting(and harder)when the metric itself is allowed to change arbitrarily across scenarios.This might happen,for example,because shipping by sea becomes much cheaper than air transport in one scenario,and vice-versa in another.The problem is de?ned exactly as in Section3,except that the cost of edge e in the?rst stage is c0e and in scenario k is c k e.We call this the stochastic metric shortest paths(SMSP)problem.

In general,the?rst-stage component of an optimal solution for SMSP need not be a tree.Consider the following example,where there is only one second-stage scenario.The graph is a path with?ve vertices s=v0,...,v4=t,where s and t are the source and the sink respectively.Let M be a large constant.The costs of the four edges(v0,v1),...,(v3,v4)in the?rst stage are respectively1,M,1,M,and in the second stage are M,1,M,1.The optimal solution is clearly to purchase edges(v0,v1)and(v2,v3)in the?rst stage, and the others in the second stage;this solution has cost4.Any solution which requires the?rst stage to be a tree has cost at least M.

Hardness Even with the restriction that the?rst stage set of edges form a tree,SMSP is as hard as the group Steiner tree problem(GST),de?ned as follows.G=(V,E)is an undirected graph with edge weights c e,and there are m vertex subsets(called groups)S k.The objective is to compute a minimum cost tree which includes at least one vertex from every group.This problem was studied by Garg,Konjevod and Ravi(2000)who also gave an approximation algorithm with performance ratio roughly O(log2n log m), and recently Halperin and Krauthgamer(2003)showed an inapproximability threshold of?(log2n)even when G is a tree.For the rest of this section,we consider the restriction of SMSP where the?rst stage solution has to be a tree,which we dub Tree-SMSP.An?(log2n)hardness for Tree-SMSP follows from the reduction of GST to Tree-SMSP,shown below.

Theorem2An instance of GST can be modeled as a special case of Tree-SMSP.

Proof:Suppose we are given an instance of group Steiner tree,speci?ed by G=(V,E),metric edge costs c,and groups S1,S2,...,S m.We create an instance of SMSP with one scenario for every group.The graph remains the same,and the?rst stage edge costs c0are the same as c,the edge costs in the GST instance. In scenario k,the metric is as follows.The distance between any two vertices in S k is zero,and all other distances are in?nity.Any vertex in S k is de?ned to be the destination t k for scenario k.All scenarios are equally likely.

An optimal solution to this instance of Tree-SMSP must select a?rst stage tree which includes at least one vertex from each S k,to avoid in?nite cost.If the tree includes any vertex in S k,it can be augmented at cost zero to a tree which includes t k if scenario k materializes.2

Approximation algorithm Our approximation algorithm relies on the following IP formulation of Tree-SMSP.Variable r k uv is1if edge(u,v)(in the direction u→v)is part of the path traversed from t k to s and edge(u,v)is chosen in the recourse solution.Variable f k uv is1if edge(u,v)is chosen in the path from t k to s and edge(u,v)is part of the?rst-stage solution.Variable x uv is1if edge(u,v)is chosen in the ?rst-stage tree.

min

e c e x e +m k =1p k e r k e c k e (IP SMSP )

s.t. v (r k t k ,v +f k t k ,v )≥1?k

v (r k uv +f k uv )= v (r k vu +f k vu )?u ∈V \{t k ,s },?k

v r k uv ≤ v

r k vu ?u ∈V \{t k },?k

f k e ≤x e

?e ∈E,?k f,r,x non-neg.integers The third set of inequalities are strengthenings valid only for the tree version of SMSP,insisting that ?ows along recourse arcs from t k to s via any node are non-increasing;they are also crucial for obtaining the result below.IP SMSP is polynomial in size,so its linear relaxation LP SMSP can be solved optimally in polynomial time.Let (f,r,x )denote an optimal solution to the linear program LP SMSP ,and OP T SMSP be its value.The following theorem describes our rounding algorithm.

Theorem 3The fractional solution (f,r,x )can be rounded in polynomial time to an integer solution (?f,?r ,?x )of cost O (log 2n log m )OP T T ree ?SMSP .

Proof:For each destination t k ,let r ?(k )= e r k e c k e be the cost incurred by the recourse component of the fractional path for t k .Let S k be the set of all nodes within distance 2r ?(k )of t k in the metric c k .The idea is that we can incur a factor of 2and pay for a path from t k to any node in S k by charging it to r ?(k ),and hence we need a ?rst stage tree which reaches at least one node in S k .We construct sets S k for every scenario k ,and create an instance of the group Steiner tree problem using the metric c .Using Markov’s inequality,it can be shown that if s /∈S k ,then we have e =(u,v ):u ∈S k ,v /∈S k x e ≥1

2.

Hence 2x is a fractional solution to the linear relaxation of the following IP formulation of the group Steiner tree problem:min e c e x e such that e =(u,v ):u ∈S,v /∈S x e ≥1?S ?k :

S k ?S .Using the result of Garg,Konjevod and Ravi (2000),we can construct an integer solution ?x at a cost which is no more than O (log 2n log m ·OP T SMSP )which is a tree and includes at least one vertex of every S k .Since for every scenario k we can augment this tree to include t k at cost no more than 2r ?(k ),our approximation ratio follows.24Bin packing

Problem de?nition and algorithm

Stochastic bin packing is motivated by applications where storage capacity has to be reserved in advance of the arrival of the objects,and if the reserved capacity is insu?cient,we have to purchase additional capacity at possibly higher costs.Formally,we are given a bin capacity B ,known in advance.There is a set of m possible scenarios,with scenario k speci?ed by a probability p k of occurrence,a set S k of objects (each with size s k i ≤B ),and a bin cost f k .A feasible solution is speci?ed by a number x of bins purchased in stage 1,at unit cost per bin.If scenario k materializes,the objects in S k need to be packed into bins of capacity B ,which may necessitate the purchase of an additional number

of bins at cost f k per bin.The objective is to compute x so as to minimize the expected total cost.Let [x ]denote the integer nearest to x .

Let ρdenote the approximation ratio of some (the best)approximation algorithm for the bin-packing problem.Any locally optimal algorithm (?rst-?t,for example)achieves ρ=2.An asymptotic PTAS was given by Fernandez de la Vega and Lueker (1981),which uses at most (1+2 )OP T +1bins.The following theorem shows how to extend any bin-packing algorithm to handle stochastic bin-packing.

Theorem 4Order the scenarios so that we have i s 1i ≥ i s 2i ≥...≥ i s m i .Let k ?be the largest integer such that k ?k =1f k p k ≥1.Then x =[ρ i s k ?i ]is an asymptotic ρ-approximate solution.

Proof:Consider the fractional relaxation of the problem,when we can pack items fractionally into bins.In that case,x ?=[ i s k ?i ]is the optimal solution,because it is the point where the expected marginal cost of buying an additional bin in recourse goes below 1.The expected total cost if we purchase x ?bins is x ?+ k>k ?p k f k ( i s k i ?x ?),which is a lower bound on the value of an optimal solution of stochastic bin packing.Since ρ i s k i bins are asymptotically su?cient to pack the objects in S k ,we will need to purchase at most ρ i s k i ?ρx ?additional bins if scenario k >k ?materializes.If scenario k ≤k ?is realized,then ρx ?bins are su?cient and no additional bins are needed.Hence the expected cost of our solution is ρx ?+ k>k ?p k f k ( ρ i s k i ?ρx ?),which is asymptotically no more than ρtimes our lower bound.25

Facility location 5.1De?nition

As in the classical uncapacitated facility location problem,we are given a set of facilities F and a set of clients D ,with a metric c ij specifying the distances between every client and every facility.However,the demand of each client is not known at the ?rst stage.In scenario k ,client j has demand d k j ,which may be zero.Facility i has a ?rst-stage opening cost of f 0i ,and recourse costs of f k i in scenario k .These may be in?nity,re?ecting the unavailability of the facilities in various scenarios.We abbreviate this problem as SFL.

min

i ∈F f i y 0i +m k =1

p k i ∈F f k i y k i + i ∈F,j ∈D d k j c ij x k ij (IP SF L )

s.t. i ∈F x k ij

≥d k j ?j ∈D,?k

x k ij ≤y 0i +y k i ?i ∈F,?j ∈D,?k x,y non-negative integers

The problem is best explained by the integer program formulation IP SF L above.While our algorithms extend to arbitrary demands at every client,for simplicity we only study the case when all d k j ’s are either

0or 1.Variable x k ij is 1if and only if client j is served by facility i in scenario k .If x k ij =1,then facility i

must either be opened at the ?rst stage (y 0i =1)or in recourse in scenario k (y k i =1)(or both).

5.2History and non-triviality of the problem

The classical(deterministic)uncapacitated facility location problem has a rich history(see Cornu′e jols, Nemhauser and Wolsey,1990for a survey).Balinski(1966)introduced an integer programming formulation for this problem which has led to several approximation algorithms.The?rst constant factor approximation using this formulation is due to Shmoys,Tardos and Aardal(1997),and the current best algorithm,due to Mahdian,Ye and Zhang(2002)uses a formulation which di?ers only slightly.Indeed,our formulation (IP SF L)extends Balinski’s formulation to the stochastic setting.In the stochastic optimization community, Louveaux and Peeters(1992)considered a slightly di?erent version of stochastic facility location,and provided a dual-ascent based exact(non-polynomial time)algorithm for it.

There are several preliminary insights which one can obtain by examining our formulation of stochastic facility location closely.First notice that if the second stage facility costs were identical to those in the?rst stage for all scenarios,then we can“de-couple”the stochastic components of the problem and solve for each scenario independently.On the other hand,if there was no second stage and all facilities had to be opened in the?rst stage,then SFL reduces to an instance of the usual UFL,where the probability multipliers in the expected service costs can be incorporated into the demand terms(thinking of the demands as being scaled based on the probability of occurrence).This also extends to allowing arbitrary demand distributions at the vertices,if they are independent.In this case,existing approximations for UFL apply directly.The added di?culty,and indeed the interesting aspect of the model,arises from varying(and typically increased) second-stage facility costs under di?erent scenarios.

In the other direction,SFL can be viewed as a special case of the multicommodity facility location problem(MCFL),where we treat each scenario as a distinct commodity and the cost of a facility depends on the commodities it serves.However,the best-known approximation ratio for MCFL is O(log m)due to Ravi and Sinha(2003),(where m is the number of scenarios),so we need di?erent techniques for better approximations of SFL.

The main di?culty stems from the fact that we cannot treat each scenario by itself,since the di?erent scenarios interact in utilizing?rst-stage facilities.A simple heuristic is to compare the solution obtained if all the demand is satis?ed in the?rst stage with the solution when no?rst stage facilities are opened. While this heuristic works well in certain instances(particularly,maximization problems such as maximum weight matchings,as in Kong and Schaefer,2003),it can easily be shown to perform badly in our case,due to the interaction across scenarios.

5.3Algorithm

Our approximation algorithm proceeds along the lines of the LP-rounding algorithm due to Shmoys,Tardos and Aardal(1997),with some crucial di?erences.We begin by solving the linear relaxation of IP SF L.Let (x,y)denote an optimal LP solution.The?rst step in rounding this fractional solution is using the?ltering technique of Lin and Vitter(1992).We?x a constant0<α<1.For every client-scenario pair(j,k),we

de?ne its optimal fractional service cost to be c?

jk =

i

c ij x k ij.Order the facilities which serve the pair

(j,k)according to non-decreasing distance from j.Theαpoint g j,k(α)for the client-scenario pair(j,k)is

the smallest distance cα

jk such that

i:c ij≤cα

jk

x k ij≥α.

Theorem 5Given a feasible fractional solution (x,y ),we can ?nd a fractional solution (x,y )which is feasible for the LP relaxation of IP SF L in polynomial time such that (i)c αjk ≤11?αc ?jk ;(ii)x k ij >0?c ij ≤c αjk for all i ∈F ,

j ∈D ,k =1,2,...,m ;(iii)y k i ≤min {1,y k i α}for all i ∈F ,k =0,1,...,m .Proof:First,if c αjk >11?αc ?jk ,then we get the following

contradiction (as an application of Markov’s

inequality):c ?jk ≥α.0+(1?α)c αjk >c ?jk ,proving (i).Next,de?ne x as follows,which satis?es (ii)by de?nition:

x k ij = min {1,1α}x k ij if c ij ≤c αjk 0otherwise

Furthermore,de?ne y k i =min j ∈D x k ij .Using (i)and the de?nition of x ,it follows that y k i ≤min {1,y k i α}

for all i ∈F ,satisfying (iii).

The de?nitions also ensure that (x,y )is a feasible solution to the LP relaxation of IP SF L .2The algorithm in Shmoys,Tardos and Aardal (1997)proceeds to iteratively round x k ij variables for which c αjk is smallest.However,this does not work in our case,because the rounding algorithm might close facilities which are needed for other scenarios k =k .Hence we need a rounding algorithm which carefully treats the distinction between stage 1facility variables y 0,and recourse facility variables y k .

We proceed as in earlier algorithms by obtaining an optimal LP solution;In the next step,we progres-sively choose clients across all scenarios with minimum fractional service cost,and neglect to serve other clients con?icting (overlapping in facility utilization)with it by assigning them to be served by this client’s serving facility.However,this will not work if the serving facility is not open in this neglected client’s scenario.Hence,the main di?erence is that if a stage 1facility is opened to serve a client,all clients that con?ict with it can be served,while if a stage 2facility variable is rounded up to serve this client,only those clients in the same scenario that con?ict with this client are neglected and assigned to this client.This strategy su?ces to pay for all opened facilities by the “disjointness”of the di?erent scenarios’contributions in the objective function,while the rule of considering clients in increasing order of fractional service cost allows us to bound the service cost.Our rounding algorithm is described in detail below.Let 0<β<1be another ?xed constant.

1.Initialize ?F

k =?to be the set of facilities opened in scenario k for k =0,1,...,m .Mark all client-scenario pairs as “unserved”.

2.Let (j,k )be an unserved client-scenario pair with smallest c αjk .Consider the following cases,in each case marking (j,k )as “served”and proceeding to the next client-scenario pair.Let S 0be the set of

facilities i such that x k ij >0∧y 0i >0,and S k be the set of facilities i such that x k ij >0∧y k i >0.

(a)If i ∈S 0

y 0i ≥β,let i be the facility such that f 0i is smallest among all facilities in S 0.Move

facility i to the set ?F 0,and set ?y 0i =1.For all other facilities i ∈S 0∪S k ,set ?y 0i =?y k i =0.For client-scenario pairs (j ,k )such that there exists a facility i ∈S 0∪S k with c i j ≤c αj k ,set ?x k ij =1and mark them as “served”.

(b)If i :i ∈S 0y 0i <β,then we must have i :c ij ≤c αjk

y k i ≥1?β.In this case,let i be the facility in S k with smallest f k i .Move facility i to the set ?F k and set ?y k i =1.For all other facilities i ∈S k ,

set ?y k i =0.For clients j such that there exists a facility i ∈S k with c i j ≤c αj k ,set ?x

k ij =1and mark them as “served”.

3.Facilities in ?F

0are the facilities to be opened in stage 1,and facilities in ?F k are the facilities to be opened in recourse if scenario k materializes.Clients are served according to the zero-one variables ?x k ij .

Lemma 2The rounding algorithm above produces an integer solution (?x ,?y )which is feasible for IP SF L such that

(i)For every client-scenario pair (j,k ),we have ?x k ij =1?c ij ≤3c αjk .(ii) i ∈F f 0i ?y 0i ≤1β i ∈F f 0i y 0i .(iii) i ∈F f k i ?y k i ≤11?β

i ∈F f k i y k i for all k =1,2,...,m .Proof:When a client is assigned to a facility (ie,?x k ij is set to 1),we either assign it to a facility within

distance c αjk ,or it is assigned when some other client j with c αj k ≤c αjk was being considered.In either case,

a simple application of triangle inequality yields c ij ≤3c αjk .

When a facility i is chosen for opening in the ?rst stage (ie,?y 0i is set to 1),case 2(a)must have occurred.

In that case,we have a su?ciently large fraction (β)of facilities which have y 0i >0which we are shutting,and we can charge the cost of opening i to the fractional solution.A similar argument holds for the case when a facility is opened in recourse in scenario k .

The solution produced is also feasible,because we start with a feasible solution (x,y ),and in each step,we maintain feasibility by ensuring that a client-scenario pair is marked “served”only when its x k ij variable is set to 1(ie,it is assigned to a facility)for some facility i .

2Theorem 6There is a polynomial time approximation algorithm with performance ratio 8for SFL.Proof:Setting α=1

4and β=1

2,along with Theorem 5and Lemma 2,yields the performance guarantee.

The running time of the algorithm is polynomial in |D |,|F |,m .

2Extensions The algorithm easily extends to allowing demands at client-scenario pairs which are non-negative real numbers instead of just 0or 1.We may also allow the costs to transport one unit of demand per unit length in di?erent scenarios to be di?erent,motivated by,e.g.,di?erent scenarios having di?erent prices of gas.In other words,each scenario has a multiplier γk such that the distance between i and j in scenario k is γk c ij .Essentially,this can be incorporated into the demand variables d k j ,and the rest of the algorithm proceeds as before to give identical results.

6Vertex cover

Problem de?nition

We are given a ?rst-stage (undirected)graph G =(V,E 0).As usual,there are m possible scenarios,each consisting of a probability of occurrence p k and a set of edges E k ,which may not necessarily be subsets of the ?rst-stage edge set E 0.The ?rst-stage cost of vertex v is c 0v ,and its cost in scenario k is c k v .The objective is to identify a set of vertices to be selected in the ?rst stage,so that the

expected cost of extending this set to a vertex cover of the edges of the realized second-stage scenario is minimized.

In the problem as de?ned above,edges in E k\E0have to be covered in the second stage,even if one of their end-points was chosen in the?rst stage.This is a generalization of the case when?rst-stage vertices cover all second-stage edges incident to them.We provide a2approximation for this generalized stochastic vertex cover problem.

The best known approximation algorithm for the deterministic version of vertex cover has performance ratio2?log log|V|

2log|V|

,due to Monien and Speckenmeyer(1985).A lower bound of1.16on the hardness of approximating the problem was shown by H?astad(1997).Our approximation ratio of2for the generalized stochastic version of vertex cover asymptotically matches the best known approximation for the deterministic version.

Integer program formulation Our algorithm is a primal-dual algorithm which rounds the natural IP formulation of stochastic vertex cover.Variable x k v indicates whether or not vertex v is purchased in scenario k(where k=0as usual denotes the?rst stage).Edges in E k∩E0may be covered in either the?rst or second stage,while edges in E k\E0must be covered in the second stage.

min c0x0+ m

k=1

p k c k x k(IP SV C)

s.t.x0u+x0v+x k u+x k v≥1?uv∈E k∩E0,?k

x k u+x k v≥1?uv∈E k\E0,?k

x non-neg.integers

Dual program The dual of the linear relaxation of IP SV C is shown below.Variable y k e packs edge e in E k if e∈E k,and it packs e∈E0if e∈E k∩E0.

max

m

k=1

u,v∈V

y k uv(DP SV C)

s.t.

e∈E k:v∈e y k e≤p k c k v?v,?k

m k=1

e∈E0∩E k:v∈e

y k e≤c0v?v

y≥0

Algorithm The algorithm is a greedy dual-ascent type of primal-dual algorithm,with two phases.In Phase I,we raise the dual variables y k e uniformly for all edges in E k\E0,separately for each k.All vertices which become tight(have the?rst dual constraint packed to p k c k v)have x k v set to1,and deleted along with adjacent edges.We proceed this way until all edges in E k\E0are covered and deleted.

In Phase II,we do a greedy dual-ascent on all uncovered edges of E k.These edges are contained in E k∩E0.This time around,we use a slightly di?erent rule for purchasing vertices.If a vertex is tight for x0v(i.e.,second dual constraint packed to c0v),then we select it in the stage1solution by setting x0v=1, and if it is not tight for x0but is tight for x k(packed in the?rst dual constraint),then we select it in the recourse solution and set x k v=1.

Theorem7The integer program IP SV C can be rounded by the primal-dual algorithm described above within a factor of2in polynomial time.

Proof:We analyze the performance of the algorithm described above.Consider an edge e =uv in scenario k .By de?nition of the algorithm,we must have selected one of its two end-points in either Phase I or Phase II (or both),so that the algorithm yields a feasible solution.We use linear programming duality to bound the cost of the solution by showing that the cost of our solution is no more than 2 k u,v ∈V y k uv ,where y is the dual solution constructed by our algorithm.

We show the performance ratio of our algorithm as follows.Each time we set an x k v variable to 1,we assign some dual variables to it such that (i)the sum of dual variables assigned to each such x k v variable equals p k c k (where p 0=1),and (ii)each dual variable is assigned at most twice.

Consider a vertex v which was selected (ie,x k v was set to 1)in scenario k in either Phase I or Phase II.

We assign all dual variables y k e such that v is an end point of e to this vertex,and since v is selected only when the constraint e ∈E k :v ∈e y k e ≤p k c k v goes tight,we maintain (i).An edge e in E k \E 0is assigned to a

vertex v only if x k v is set to 1for k =0,and since an edge has at most 2end-points,we ensure (ii)for edges in E k .

Next consider a vertex v for which we set x 0v to 1.For this to happen,the constraint l e ∈E 0∩E k :v ∈e

y k e ≤c 0v must have gone tight,and all edges in the sum are assigned to the variable x 0v .This assignment once

again ensures (i).This assignment only includes edges in E 0∩E k ,and these edges are not assigned to any variable x k v for k =0,thus also ensuring (ii)for all edges in E 0∩E k .

These two cases cover all the possibilities,thus proving the theorem.27Set cover

Problem de?nition

The input in the stochastic set cover problem consists of a universe U of |U |=n elements,and a collection S of subsets of U .Each set S ∈S has a stage 1cost c 0S and a cost of c k S in

scenario k ,some of which might be in?nity re?ecting the unavailability of the set in certain scenarios.Each element u ∈U has a demand vector d u with the k th component d k u being 1if it is required to cover u in scenario k ,and 0otherwise.A feasible solution is speci?ed by a collection S ?S ,with stage 1cost S ∈S c 0S .If scenario k is realized,then S must be extended by purchasing some more sets S k to cover all elements with d k u =1.The cost of this recourse solution is S ∈S k c k S ,and we incur this with probability p k .The objective is a solution which minimizes the sum of ?rst stage and expected second stage costs.Reduction to classical set cover

The deterministic version of set cover was among the earliest NP-hard problems to be approximated,with a O (log n )approximation was ?rst provided by Johnson (1974).The problem was also shown to be NP-hard to approximate better than a factor of ?(log n )by Arora and Sudan (1997).

Given an instance of deterministic set cover,we can de?ne an instance of stochastic set cover by creating a distinct scenario for each element,and setting all second-stage set costs to in?nity.This implies an inapproximability threshold of ?(log m )for stochastic set cover too.

We show below that any instance of stochastic set cover with n elements can be transformed to an instance of deterministic set cover with n (m +1)elements.This means that there exists an O (log nm )=O (log n +log m )approximation for stochastic set cover by using this transformation and then applying

any approximation algorithm for deterministic set cover.The approximation ratio therefore matches the inapproximability ratio upto constants.The reduction in Theorem8allows us to extend the model to the following generalization,for which the same approximation guarantee holds:In scenario k,each set S k covers only a subset of the elements that the?rst-stage set S covers.

Theorem8Any stochastic set cover problem is equivalent to a classical set cover problem with mn elements and|S|(m+1)sets.

Proof:Associate an element u k for every element-scenario pair(u,k)such that d k u=1.Create m+1 copies of every set S∈S.Set S0contains all elements u k for all k=1,2,...,m such that u∈S,while set

S k only contains u k for all u∈S.Finally,the cost of S0is c0

S and that of S k is p k c k

S

.

By construction,any solution to the stochastic set cover instance yields a solution to the transformed deterministic instance,and vice-versa.This proves the equivalence.2

8Directions for further research

Much work remains to be done on several classical combinatorial optimization problems for which algorithms in the two-stage stochastic model are not known.

Another direction of research is to develop approximation algorithms for more complex models of stochas-tic optimization:The extension of the two-stage model to multiple stages allows more detailed modeling; the variant where uncertainty is modeled by a continuous distribution is also often considered.

It is our hope that these models will provide a rich setting for the application of optimization in practice.

9Acknowledgments

We gratefully thank Andrew Schaefer and Nan Kong of the University of Pittsburgh for introducing us to the topic of this research via Schaefer and Wong(2003).

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