Problem
This is a multi-objective (a.k.a. multi-criteria) problem. We are asked to find all Pareto optimal solutions (i.e. non-dominated solutions) consisting of a set of items [1]. We have the following data:
---- 42 PARAMETER data %%% data set with 12 items
cost hours people
Rome 100055
Venice 200110
Torin 50032
Genova 70078
Rome2 102056
Venice2 220110
Torin2 52032
Genova2 72074
Rome3 105055
Venice3 25018
Torin3 55038
Genova3 75078
We want to optimize the following objectives:
- Maximize number of items selected
- Minimize total cost
- Minimize total hours
- Minimize total number of people needed
In addition we have a number of simple bound constraints:
- The total cost can not exceed $10000
- The total number of hours we can spend is limited to 100
- There are only 50 people available
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| Vilfredo Pareto [2] |
Approach 1: complete enumeration
This is a small data set with 12 items. This means we have only \(2^{12}=4,096\) possible combinations. Some of these represent infeasible solutions. Let's have a look.
In the next paragraphs I will show a GAMS program without a model: no variables and no constraints and no solve statement. I will use some less familiar GAMS constructs to (1) enumerate all possible solutions and (2) to filter out dominated solutions. I will take small steps, because of the high level of exotisism of these GAMS steps.
1.1 Generating all combinations
GAMS has a tool to generate a power set (the set of all sub sets). We can use this to generate all possible combinations.
sets i 'items'/Rome,Venice,Torin,Genova,Rome2,Venice2, Torin2,Genova2,Rome3,Venice3,Torin3,Genova3/ k 'objectives'/cost,hours,people,items/ s 'solution points'/s1*s4096/ ; * * check if set s is large enough * scalar size 'size needed for set s'; size = 2**card(i); abort$(card(s) * * generate all combinations * sets base 'used in next set'/no,yes/ ps0(s,i,base) /system.powersetRight / ps(s,i) 'power set' ; ps(s,i) = ps0(s,i,'yes'); display ps; |
The unusual construct system.powersetRight will populate set ps0 with information about the power set. I hardly ever use the Power Set, but there is a well-known formulation for the TSP (Traveling Salesman Problem), that can use this [3]. The generated set ps0 looks like (I pivoted things around to make the table a bit more readable):
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| ps0 with second index pivoted |
This has a little bit more info than we need: we only need the "yes" rows. This "yes"-only part is stored in set ps. It looks like:
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| Set ps |
It looks like we are missing solution s1 here. That is because GAMS stores everything sparse. A row without any Y elements is just not stored. The bottom of set ps looks like:
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| Bottom of set ps |
Indeed we have all 4096 solutions (well, except for that funny first row).
1.2 Form our X parameters
With this we can form our \(x_{s,i}\in \{0,1\}\) parameter. We want a 0-1 parameter for two reasons: we want numerical values to evaluate our objectives, and we need this parameter later on to use a filter tool.
* * make a parameter out of this * parameter x(s,i) 'solutions'; x(s,i) = ps(s,i); * make sure row 1 exists: introduce an EPS x(s,i)$(ord(s)=1 andord(i)=1) = eps; display x; |
A trick to make the row not disappear is to insert an EPS value. An EPS value is like a zero when operated upon. But it exists: GAMS will no longer assume the whole row does not exist.
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| Parameter x with EPS value |
1.3 Form the F values
Now we have all possible solutions in the \(x\) space, we can start calculating the \(f\) values: the objectives.
table data(i,k) '### data set with 12 items' cost hours people Rome 1000 5 5 Venice 200 1 10 Torin 500 3 2 Genova 700 7 8 Rome2 1020 5 6 Venice2 220 1 10 Torin2 520 3 2 Genova2 720 7 4 Rome3 1050 5 5 Venice3 250 1 8 Torin3 550 3 8 Genova3 750 7 8 ; data(i,'items') = 1; parameter f(s,k) 'objective values'; f(s,k) = sum(i, data(i,k)*x(s,i)); display f; |
First we need to introduce our data. One objective is missing from the columns: the items. This is simply a column with ones: each item counts as one. With this we can calculate all \(f\) values in one swoop. The display output looks like:
---- 56 PARAMETER f objective values
cost hours people items
s1 EPS EPS EPS EPS
s2 750.0007.0008.0001.000
s3 550.0003.0008.0001.000
s4 1300.00010.00016.0002.000
s5 250.0001.0008.0001.000
s6 1000.0008.00016.0002.000
s7 800.0004.00016.0002.000
s8 1550.00011.00024.0003.000
s9 1050.0005.0005.0001.000
s10 1800.00012.00013.0002.000
. . .
s4089 5930.00037.00052.0009.000
s4090 6680.00044.00060.00010.000
s4091 6480.00040.00060.00010.000
s4092 7230.00047.00068.00011.000
s4093 6180.00038.00060.00010.000
s4094 6930.00045.00068.00011.000
s4095 6730.00041.00068.00011.000
s4096 7480.00048.00076.00012.000
I only show the head and the tail of the display here. As we can see, some objective values violate the constraints. E.g. the last solution s4096, needs 76 people while we only have 50 available.
1.4 Constraint handling
We need to remove all solutions that violate the constraints. This can be done as follows:
parameter UpperLimit(k) 'bounds'/ cost 10000 hours 100 people 50 /; upperlimit(k)$(upperlimit(k)=0) = INF; set infeas(s) 'infeasible solutions'; infeas(s) = sum(k$(f(s,k)>UpperLimit(k)),1); scalar numfeas 'number of feasible solutions'; numfeas = card(s)-card(infeas); display numfeas; * kill solutions that are not feasible x(infeas,i) = 0; f(infeas,k) = 0; |
This code removes all infeasible solutions from \(x\) and \(f\). Note that assigning a zero makes the corresponding records disappear: this is because GAMS stores everything sparse. The display shows:
---- 71 PARAMETER numfeas = 3473.000 number of feasible solutions
1.5 Filter out dominated solutions
In the result set there are quite a few dominated solutions. A solution \(f_1\) dominates \(f_2\) if:
- All objectives are better or equal
- There is one objective which is strictly better
Looking again at some of our solutions
---- 87 PARAMETER f objective values
cost hours people items
s1 EPS EPS EPS EPS
s2 750.0007.0008.0001.000
s3 550.0003.0008.0001.000
s4 1300.00010.00016.0002.000
s5 250.0001.0008.0001.000
s6 1000.0008.00016.0002.000
s7 800.0004.00016.0002.000
we see that for this small subset
- s1 is non dominated
- s5 dominates s2 and s3
- s7 dominates s4 and s6
Remember we are minimizing cost, hours and people while maximizing items.
GAMS has a tool to filter large data sets, call mcfilter.
D:\projects>mcfilter No input file specified Usage: mcfilter xxx.gdx mcfilter will remove duplicate and dominated points in a multi-criteria solution set. The input is a gdx file with the following data: parameter X(point, i): Points containing binary values. If all zero for a point, use EPS. parameter F(point, obj): Objectives for the points X. If all zero for a point, use EPS. parameter S(obj): Direction of each objective: 1=max,-1=min The output will be a gdx file called xxx_res.gdx with the same parameters but without duplicates and dominated points. D:\projects> |
The X and the F parameters conform to our parameters. So the only thing to add are the signs of the objectives.
parameter sign(k) 'sign: -1:min, +1:max'/ (cost,hours,people) -1 items +1 /; execute_unload"feassols",x,f,sign=s; execute"mcfilter feassols.gdx"; |
We see:
mcfilter v3.
Number of records = 3473
Number of X variables = 12
Number of F variables = 4
Loading GDX data = 15 ms
After X Filter, count = 3473
X Duplicate filter = 0 ms
After F Filter, count = 83
F Dominance filter = 0 ms
Writing GDX data = 0 ms
There are 83 non-dominated or Pareto optimal solutions.
The final Pareto set looks like:
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| Non-dominated solutions |
I list here the \(x\) values and the \(f\) values. As can be expected, a solution with all \(x_i=0\) is part of the Pareto set: doing nothing is very cheap; no other solution can beat this on price. Interestingly, project Genova3 is never selected.
Approach 2: use a series of MIP models
There is another way to generate these 83 points: use a MIP model. Or rather a series of MIP models. We use an algorithm like:
- Generate an optimal MIP solution. If infeasible: STOP.
- Add constraints: new solutions must be better in one objective
- Go to step 1.
This approach will be shown in part 2.
Conclusion
We have described a small multi-objective problem. We established that:
- There are 4096 total combinations possible.
- After removing the infeasible solutions, there are 3473 solutions left.
- After removing the dominated solution, we are left with 83 Pareto optimal solutions.
We used some less well-known GAMS tools in our script: a power set generator and a multi-criteria filter.
References
- Best Combination Algorithm of Complex Data with Multiple Constraints, https://stackoverflow.com/questions/55514627/best-combination-algorithm-of-complex-data-with-multiple-contraints
- Vilfredo Pareto, https://en.wikipedia.org/wiki/Vilfredo_Pareto
- TSP Powerset Formulation, https://yetanothermathprogrammingconsultant.blogspot.com/2009/02/tsp-powerset-formulation.html