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Edmund K. Burke · Graham Kendall Editors Search Methodologies Introductory Tutorials in Optimization and Decision Support Techniques Second Edition Search Methodologies Edmund K. Burke • Graham Kendall Editors Search Methodologies Introductory Tutorials in Optimization and Decision Support Techniques Second Edition 123 Editors EdmundK.Burke GrahamKendall UniversityofStirling Vice-Provost(Research CottrellBuilding andKnowledgeTransfer) Scotland,UnitedKingdom UniversityofNottingham,Malaysia andUniversityofNottingham,UK JalanBroga,Semenyih,Malaysia ISBN978-1-4614-6939-1 ISBN978-1-4614-6940-7(eBook) DOI10.1007/978-1-4614-6940-7 SpringerNewYorkHeidelbergDordrechtLondon LibraryofCongressControlNumber:2013944229 ©SpringerScience+BusinessMediaNewYork2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’slocation,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer. PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violations areliabletoprosecutionundertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpub- lication,neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforany errorsoromissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespect tothematerialcontainedherein. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Foreword to the First Edition This is not so much a foreword as a testimonial. As I embarked on the pleasant journeyofreadingthroughthechaptersofthisbook,Ibecameconvincedthatthisis oneofthebestsourcesofintroductorymaterialonthesearchmethodologiestopicto befound.Thebook’ssubtitle,“IntroductoryTutorialsinOptimizationandDecision SupportTechniques,”aptlydescribesitsaim,andtheeditorsandcontributorstothis volumehaveachievedthisaimwithremarkablesuccess. The chapters in this book are exemplaryin giving useful guidelines for imple- mentingthemethodsandframeworksdescribed.Theyaretutorialsinthewaytuto- rials oughtto be designed. I foundno chapter that did not contain interesting and relevant information and found several chapters that can only be qualified as de- lightful. Thoseofuswhohavedevotedasubstantialportionofourenergiestothestudy and elaboration of search methodologiesoften wish we had a simple formula for passing along the core notions to newcomers to the area. (I must confess, by the way, that I qualify as a relative newcomer to some of the areas in this volume.) Whilesimplicity,likebeauty,tosomedegreeliesintheeyesofthebeholderandno universalor magical formulafor achievingit exists, this bookcomes muchcloser to reaching such a goal than I would have previously considered possible. It will occupya privilegedposition on my list of recommendedreading for students and colleagueswhowanttogetatasteforthebasicsofsearchmethodologiesandwho haveaninterestinequippingthemselvestoprobemoredeeply. If good books may be likened to ladders that help us ascend to higher rungs of knowledgeand understanding,we all know there are neverthelessmany books written in technical areas that seem to be more like stumbling blocks or at best brokensteppingstoolsthatdepositusinisolatednooksofferingnoclearaccessto continuedmeansofascent.Notsothepresentbook.Itschaptersleadtoidealsites forcontinuedexplorationandoffercompellingmotivationforfurtherpursuitofits ideasandframeworks.Ifmyreckoningisnotcompletelyamiss,thosewhoreadthis volumewillfindabundantreasonsforsharingmyconvictionthatweoweitseditors andauthorsatruedebtofgratitudeforputtingthisworktogether. Boulder,CO,USA FredGlover v Foreword to the Second Edition Itgivesmegreatpleasuretowritethisshortforewordtothesecondeditionofthis outstandingbook.Thefirsteditionestablishedthisvolumeasanimportantinterna- tionallandmarkintheexpositionandexplanationofcomputationalsearchmethod- ologies and associated issues. As its title indicates, it covers a broad and diverse portfolioofsearchtechniquesfromaninterdisciplinaryperspectiveinanextensive andcomprehensiveway.Insomeways,thisisnosurprisebecausetheauthorsthat have been broughttogether in this volume truly representa collection of the very topfiguresinthefield.Itisanextremelyimpressivegroupofauthorswhohavethe highestpossiblequalificationstopresentthesechaptersinaclearandauthoritative way. AstheeditorshaveexplainedintheIntroduction,decisionsupportsystemsnow underpinthe core of many modernmanagementapproachesin such diverse areas ashealthcare,commerce,industry,science,andgovernment.Inmanyeverydaysit- uationsacross many differentworkingenvironments,the idea of taking important managerialdecisionswithoutsomekindofdecisionsupportsystemwouldbeincon- ceivable.Moreover,itisthetechniquesandmethodsthatareintroducedinthisbook thatoftenlie at the heartof the searchenginesuponwhichthese decision support systemsdepend.Thus,thebookideallyfitsthecurrentneedsoftoday’sincreasingly computer-drivenworld. TheaimofthebookisclearlyarticulatedintheIntroduction.Itaimstopresent aseriesofwell-writtentutorialsbytheleadingexpertsintheirfields.Moreover,it does this by covering practically the whole possible range of topics in the disci- pline. It enables students and practitionersto study and appreciate the beauty and thepowerofsomeofthecomputationalsearchtechniquesthatareabletoeffectively navigatethroughsearchspacesthataresometimesinconceivablylarge. I am convinced that this second edition will build on the success of the first editionandthatitwillprovetobejustaspopular.Threemainfeaturesofthevolume addsignificantly,inmyopinion,toitsappeal.Thesecanbeoutlinedasfollows: vii viii ForewordtotheSecondEdition • Ihavealreadyreferredtothesetofexcellentauthorswhohavewrittenthechap- ters of the book,butI thinkthat it is worthemphasizinghowimportantthisis. Alltheauthorsareworld-renownedexpertsintheirfield. • There is full and complete coverage of the area of search methodologies.This iscomplementedinthesecondeditionbyadditionalchaptersonScatterSearch, GRASP (Greedy Randomized Adaptive Search Procedures), and Very Large- ScaleNeighborhoodSearch.Thechoiceoftheseadditionalchapterswasinspired andreflectstheever-changingnatureanddevelopingfocusofthefield. • Iparticularlyappreciatetheuniformapproachtothedescriptionoftopicswhich originate from such different disciplines as operations research, computer sci- ence,mathematics,artificialintelligence,andothers.Establishingthiscommon structureacrosssuchalargenumberofauthorsistestamenttotheskillandinter- nationalstandingoftheeditors.Theirvisionhasbeenrealizedinanexceptional introductorytreatmentofthefield.Ithinkthattricksoftrade,examples,sources ofadditionalinformation,andtheextensivelistofappropriatereferencesrepre- sentparticularlyusefulresources,andIhaveregularlydirectedmyownstudents to them in the first edition.I expectto continueto do so with this new edition. Thesefeaturesparticularlyaddtotheusefulnessofthebookeitherforself-study orasthebasisofacourseinthetopic. Tosummarize,Ihighlyrecommendthebookforthosewhorequireanintroduc- tiontothebreadthoftechniquesandapproachesthatarerepresentedbythefieldof searchmethodologies.Ihavegainedalotofpleasurefromreadingthroughthisnew edition,andI amsure thatitwill bea valuableresourcetoteachers, students,and practitionersformanyyearstocome. Poznan,Poland JacekBlazewicz Preface to the First Edition Wefirsthadtheideaforthisbookover3yearsago.Itgrewoutofaone-daywork- shopentitledIntroductoryTutorialsinSearch,OptimizationandDecisionSupport Methodologies(INTROS),whichwasheldinNottinghaminAugust2003.Theaim of the workshop was to deliver basic introductionsto a broad spectrum of search methodologiesfromacrossdisciplinaryboundaries.ItwassupportedbytheUKEn- gineeringandPhysicalSciencesResearchCouncil(EPSRC)andtheLondonMath- ematicalSociety(LMS) andwas attendedbyoveronehundreddelegatesfromall overtheworld.Wewereveryfortunatetohave11oftheworld’sleadingscientistsin searchmethodologiespresentingarangeofstimulatingandhighlyinformativetu- torials.AlloftheINTROSpresentershavecontributedtothisvolume,andwehave enhanced the content by inviting additional, specifically targeted, complementary chapters. We are pleased to be able to present such a comprehensive, multidisci- plinarycollectionoftutorialsinthiscruciallyimportantresearcharea. Wewouldliketotakethisopportunitytothankthemanypeoplewhohavecon- tributed towards the preparationof this book.We owe a great debt of gratitude to theauthorsofthechapters.Asonewouldexpectfromsuchadistinguishedgroupof scientists, theyhavepreparedtheirexcellentcontributionsina thoroughlyreliable and professionalmanner. Withoutthem, of course, the bookwould nothave been possible.Weareextremelygratefultoourcopyeditor,PiersMaddox,whoexcelled himselfin bringingtogether,inonecoherentstructure,thevariousdocumentsthat weresenttohim.WearealsoverygratefultoGaryFolven,CarolynFord,andtheir staff at Springer who have providedus with invaluableadvice and supportduring everystepoftheway.WewouldliketoofferourgratitudetoFredGloverforwriting theforewordforthisbook.Hiswarmpraiseisparticularlypleasing.Aspecialthank you should go to Emma-Jayne Dann and Alison Payne for all the administrative supporttheyhavegivenus,bothinthepreparationofthisvolumeandintheorga- nization of the INTROS workshop that underpinnedit. We are also very thankful to EPSRC and LMS for the financial supportthey gave us to hold this workshop. Finally,weofferaspecialthankyoutotheINTROSdelegatesfortheirenthusiasm andtheirencouragement. ix

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Most books are stored in the elastic cloud where traffic is expensive. For this reason, we have a limit on daily download.