Hardness of Approximating Flow and Job Shop Scheduling Problems 1: Every Schedule of the Flow Shop Instance F(r,d) Has Makespan at Least min(r, d/4)·lbResearch Paper
Motivation
In shop scheduling, jobs consist of chains of operations, each to be processed on a prescribed machine, and the goal is to minimize the makespan, the time at which the last operation finishes. Almost every approximation algorithm for job shops, acyclic job shops and flow shops is analysed against one quantity: the trivial lower bound , where the congestion is the largest total processing time requested on one machine and the dilation is the largest total processing time of one job. Any schedule has makespan at least .
How weak can this bound be? Leighton, Maggs and Rao (1994) showed that for acyclic job shops with unit-length operations the optimum is . For operations of arbitrary length, Feige and Scheideler (2002) proved an upper bound of for acyclic job shops, and gave acyclic job shop instances whose optimum is . Flow shops, in which every job visits every machine in one common order, are much more structured, and no flow shop instance with optimum was known. Feige and Scheideler asked whether flow shops admit a significantly better upper bound. Mastrolilli and Svensson (J. ACM 2011, Theorem 1.1) answered this negatively by constructing flow shops whose optimal makespan is a factor above .
Timeline:
- 1994 — Leighton, Maggs, Rao: unit-time acyclic job shops have optimum (packet routing).
- 2002 — Feige, Scheideler: upper bound for acyclic job shops, a nearly matching lower-bound family for acyclic job shops, and the open question for flow shops.
- 2011 — Mastrolilli, Svensson: flow shops with optimum .
Setting
A job shop instance has machines and jobs; job is a sequence of operations , operation needs time units without interruption on machine . A feasible schedule assigns a start time to every operation so that each operation starts after the previous operation of its job has completed, and no two operations on one machine overlap. A zero-length operation therefore still occupies an instant on its machine: it cannot be performed strictly inside another operation there. The makespan is the largest completion time.
The instance , for natural numbers :
- Machines. groups ; group has machines , one per frequency. The machines are ordered : by group, and inside a group by decreasing frequency.
- Jobs. For each frequency there are job groups , each of identical jobs. Such a job runs for time units on each of the machines , , and for time units on every other machine. Every job visits every machine in the common order, so is a flow shop.
Operations of positive length are long-operations, the others short-operations. For a schedule, the -th long-operation of a job of frequency is good if the delay from its end to the start of the next long-operation of is at most ; the last long-operation of a job is never good. is the set of first halves of the good long-operations on machine , and the total time they cover.
Formalization targets
Goal: Theorem 1.1, explicit form
For all natural numbers and : every job of has length , every machine has load (so ), and every feasible schedule satisfies
With this gives the paper's statement, an optimal makespan of .
Milestones
- §2.2.1, p. 20:10: every job length and machine load equals .
- Lemma 2.2: if , every job has at least a fraction of good long-operations.
- Lemma 2.3: for , the intervals of and are pairwise disjoint.
- Lemma 2.4: if , some group has .
Significance
The theorem shows that the lower bound , against which all known flow shop algorithms are analysed, can be off by a factor growing with . Any flow shop algorithm with guarantee relative to the optimum must therefore use a stronger lower bound than . The same frequency construction is the gap gadget behind the paper's inapproximability results for generalized flow shops and job shops (Theorems 1.2 and 1.3).
The result has been proved since 2011; as far as is known it has no machine-checked proof. The mission produces a formal model of the instance , a formal proof of the explicit bound for every , , and reusable statements about delays and first-half intervals in the published job shop model JobShopLTAS.Core.Instance.
Difficulty
The bound must hold for every feasible schedule, with no structural restriction such as a permutation or non-delay schedule. The obvious approach, comparing each machine's load with the makespan, only gives , since every machine carries exactly . The gain comes from interaction between machines of different frequencies in one group: a high-frequency job running in parallel with a low-frequency long-operation is held back by its zero-length operation on the low-frequency machine. Turning this into a quantitative bound requires controlling, for every job at once, how long it waits between consecutive long-operations, and that waiting is only bounded when the makespan is already small. Encoding the index arithmetic of (groups, frequencies, copies, positions of the long-operations) and the zero-length operations faithfully is a substantial part of the work.
Formalization scope
- Model. The published definition
JobShopLTAS.Core.Instance: machinesFin m, jobsFin n, real processing times and start times,IsFeasibleSchedule Finset.univ s(nonnegative starts, chain precedence, disjunctive machine constraints o + p o ≤ s o' ∨ s o' + p o' ≤ s o) andmakespan Finset.univ s. Under that constraint a zero-length operation cannot sit strictly inside another operation on its machine, which the paper's argument needs. - Encoding. has machines and jobs. Machine position is with , so position order is the paper's machine order. Job is with . Every job has one operation per machine, the -th on position ; frequencies, groups and copies are 1-based.
- Good operations. The next long-operation of a job is the next operation of positive length in its chain; a last long-operation is never good. is the Lebesgue measure of the union of the intervals of .
- Explicit constants replacing asymptotics. The paper's is replaced by the bound that §2.2.2 proves; the specialization and the asymptotic estimate are not formalized. "Sufficiently large " becomes (Lemma 2.4 and the goal: ) and (Lemma 2.3: ); Lemma 2.2 holds for every . The standing assumption of §2.2.2 is an explicit hypothesis of Lemmas 2.2 and 2.4. "Optimal makespan" is stated as a bound on every feasible schedule.
- Ruled out. The goal quantifies over all feasible schedules of as constructed; assuming the good-fraction or disjointness properties, restricting to permutation schedules, or a model in which zero-length operations occupy no machine time would trivialize or falsify it.
- Not in scope. The job shop warm-up of §2.1 (Lemma 2.1) and the reductions of §3–§4.
Welcome contributions: proofs of the counting facts about the encoding, of the milestones, and general lemmas about feasible schedules in JobShopLTAS.Core.Instance (completion time of a job bounds its delays; disjoint intervals in have total length at most ).
Selected references
- M. Mastrolilli, O. Svensson, Hardness of Approximating Flow and Job Shop Scheduling Problems, J. ACM 58(5), Article 20, 2011. https://doi.org/10.1145/2027216.2027218
- U. Feige, C. Scheideler, Improved Bounds for Acyclic Job Shop Scheduling, Combinatorica 22(3), 361–399, 2002. https://doi.org/10.1007/s004930200018
- F. T. Leighton, B. M. Maggs, S. B. Rao, Packet Routing and Job-Shop Scheduling in O(Congestion + Dilation) Steps, Combinatorica 14(2), 167–186, 1994. https://doi.org/10.1007/BF01215349
- P. Schuurman, G. J. Woeginger, Polynomial Time Approximation Algorithms for Machine Scheduling: Ten Open Problems, J. Scheduling 2(5), 203–213, 1999. https://doi.org/10.1002/(SICI)1099-1425(199909/10)2:5<203::AID-JOS26>3.0.CO;2-5