Covering Games: Approximation through Non-Cooperation Martin Gairing Warwick 2010 Covering Games: Approximation through Non-Cooperation Martin Gairing · 1 Introduction Covering Games A general covering problem Given I a universe E of elements Covering Games: Approximation through Non-Cooperation Martin Gairing · 2 Introduction Covering Games A general covering problem Given I a universe E of elements I 5 2 20 12 12 10 6 30 1 a weight function w : E 7→ N Covering Games: Approximation through Non-Cooperation Martin Gairing · 2 Introduction Covering Games A general covering problem Given I a universe E of elements I I a weight function w : E 7→ N n collections of subsets of E I Si ⊂ 2E for each i ∈ [n] Covering Games: Approximation through Non-Cooperation 5 2 20 12 12 10 6 30 1 Martin Gairing · 2 Introduction Covering Games A general covering problem Given I a universe E of elements I I a weight function w : E 7→ N n collections of subsets of E I Si ⊂ 2E for each i ∈ [n] Task I choose n subsets (si )i∈[n] , s.t. I I 5 2 20 12 12 10 6 30 1 sSi ∈ Si i∈[n] si has maximum total weight Covering Games: Approximation through Non-Cooperation Martin Gairing · 2 Introduction Covering Games Covering Games I n players Covering Games: Approximation through Non-Cooperation 5 2 20 12 12 10 6 30 1 Martin Gairing · 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si Covering Games: Approximation through Non-Cooperation 5 2 20 12 12 10 6 30 1 Martin Gairing · 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I 5 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] f (1) = 1 Covering Games: Approximation through Non-Cooperation f (2) = 1 2 f (3) = Martin Gairing · 1 3 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I I 5 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] natural assumptions on f I I non-increasing no-overpay (j · f (j) ≤ 1) f (1) = 1 Covering Games: Approximation through Non-Cooperation f (2) = 1 2 f (3) = Martin Gairing · 1 3 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I I I I 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] natural assumptions on f I I 5 non-increasing no-overpay (j · f (j) ≤ 1) Load on e ∈ E: δe (s) = |{i ∈ [n] : e ∈ si }| Utility of player i ∈ [n]: X f (δe (s)) · we ui (s) = e∈si Covering Games: Approximation through Non-Cooperation f (1) = 1 f (2) = I u1 (s) = 37 I u2 (s) = 13 I u3 (s) = 11 1 2 f (3) = Martin Gairing · 1 3 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I I I I 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] natural assumptions on f I I 5 non-increasing no-overpay (j · f (j) ≤ 1) Load on e ∈ E: δe (s) = |{i ∈ [n] : e ∈ si }| Utility of player i ∈ [n]: X f (δe (s)) · we ui (s) = e∈si Covering Games: Approximation through Non-Cooperation f (1) = 1 f (2) = I u1 (s) = 31 I u2 (s) = 7 I u3 (s) = 6 1 3 f (3) = 1 6 :-( Martin Gairing · 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I I I I 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] natural assumptions on f I I 5 non-increasing no-overpay (j · f (j) ≤ 1) Load on e ∈ E: δe (s) = |{i ∈ [n] : e ∈ si }| Utility of player i ∈ [n]: X f (δe (s)) · we ui (s) = e∈si Covering Games: Approximation through Non-Cooperation f (1) = 1 f (2) = I u1 (s) = 24 I u2 (s) = 8 I u3 (s) = 11 1 3 f (3) = 1 6 :-( Martin Gairing · 3 Introduction Covering Games Covering Games I n players I player i ∈ [n] chooses si ∈ Si I for covering an element, pay players according to utility sharing function I I I I 2 20 12 12 10 6 30 1 f : [n] 7→ [0, 1] natural assumptions on f I I 5 non-increasing no-overpay (j · f (j) ≤ 1) Load on e ∈ E: δe (s) = |{i ∈ [n] : e ∈ si }| Utility of player i ∈ [n]: X f (δe (s)) · we ui (s) = e∈si Covering Games: Approximation through Non-Cooperation f (1) = 1 f (2) = I u1 (s) = 30 I u2 (s) = 24 I u3 (s) = 31 1 3 f (3) = Martin Gairing · 1 6 3 Introduction Covering Games Special Cases [ N EMHAUSER , W OLSEY, F ISHER, ’78] MAX-k-Cover Si = Sj for all players i, j ∈ [n] Greedy ⇒ (1 − 1e ) − approx. [ F EIGE, ’98] better ⇒ NP ⊆ TIME(nO(log log n) ) Covering Games: Approximation through Non-Cooperation Martin Gairing · 4 Introduction Covering Games Special Cases [ N EMHAUSER , W OLSEY, F ISHER, ’78] MAX-k-Cover Si = Sj for all players i, j ∈ [n] SAT-Games |Si | ≤ 2 for each player i ∈ [n] Greedy ⇒ (1 − 1e ) − approx. [ F EIGE, ’98] better ⇒ NP ⊆ TIME(nO(log log n) ) [ G IANNAKOS ET AL ., ’07] Covering Games: Approximation through Non-Cooperation Martin Gairing · 4 Introduction Covering Games Special Cases [ N EMHAUSER , W OLSEY, F ISHER, ’78] MAX-k-Cover Si = Sj for all players i, j ∈ [n] SAT-Games |Si | ≤ 2 for each player i ∈ [n] Market-Sharing Games 5 3 Greedy ⇒ (1 − 1e ) − approx. [ F EIGE, ’98] better ⇒ NP ⊆ TIME(nO(log log n) ) [ G IANNAKOS ET AL ., ’07] [ G OEMANS , M IRROKNI , T HOTTAN, ’04] 4 markets 1 2 3 4 2 2 players 3 4 Covering Games: Approximation through Non-Cooperation Martin Gairing · 4 Introduction Covering Games Nash Equilibrium Nash Equilibrium The (pure) strategy profile s is a pure Nash equilibrium if and only if all players i ∈ [n] are satisfied, that is, ui (s) ≥ ui (s−i , si0 ) for all i ∈ [n] and si0 ∈ Si . Covering Games: Approximation through Non-Cooperation Martin Gairing · 5 Introduction Covering Games Nash Equilibrium Nash Equilibrium The (pure) strategy profile s is a pure Nash equilibrium if and only if all players i ∈ [n] are satisfied, that is, ui (s) ≥ ui (s−i , si0 ) for all i ∈ [n] and si0 ∈ Si . Proposition [ R OSENTHAL, 1973] Every covering game admits a pure Nash equilibrium. Rosenthals potential function: Φ(s) = e (s) X δX fe (i) e∈E i=1 If a single player increases her payoff by ∆ then also the potential increases by ∆. Covering Games: Approximation through Non-Cooperation Martin Gairing · 5 Covering Games Price of Anarchy Price of Anarchy I W (s) . . . total weight of elements covered in s I f . . . utility sharing function. Price of Anarchy PoAf = inf Γ∈G, s is NE in Γ W (s) OPT Covering Games: Approximation through Non-Cooperation Martin Gairing · 6 Covering Games Price of Anarchy Price of Anarchy I W (s) . . . total weight of elements covered in s I f . . . utility sharing function. Price of Anarchy PoAf = inf Γ∈G, s is NE in Γ W (s) OPT Main task Construct utility sharing function that maximizes PoAf . Covering Games: Approximation through Non-Cooperation Martin Gairing · 6 Covering Games Price of Anarchy Price of Anarchy I W (s) . . . total weight of elements covered in s I f . . . utility sharing function. Price of Anarchy PoAf = inf Γ∈G, s is NE in Γ W (s) OPT Main task Construct utility sharing function that maximizes PoAf . I Coordination Mechanism [ C HRISTODOULOU, KOUTSOUPIAS , N ANAVATI, ’04] Covering Games: Approximation through Non-Cooperation Martin Gairing · 6 Covering Games Upper Bound What to hope for? Example: k=4 I I node ↔ element (we = 1) edge ↔ player I I I |S1 | = 1 |Si | = 2 for i ≥ 2 k + 1 levels I I root: k − 1 children level j node: k − j children f : [n] 7→ R depends only on the number of players choosing an element. Covering Games: Approximation through Non-Cooperation Martin Gairing · 7 Covering Games Upper Bound What to hope for? Example: k=4 I I node ↔ element (we = 1) edge ↔ player I I I |S1 | = 1 |Si | = 2 for i ≥ 2 k + 1 levels I I root: k − 1 children level j node: k − j children f : [n] 7→ R depends only on the number of players choosing an element. Optimum s∗ W (s∗ ) = 1 + Covering Games: Approximation through Non-Cooperation Pk j=1 (k − 1) · (k−1)! (k−j)! Martin Gairing · 7 Covering Games Upper Bound What to hope for? Example: k=4 I I node ↔ element (we = 1) edge ↔ player I I I |S1 | = 1 |Si | = 2 for i ≥ 2 k + 1 levels I I root: k − 1 children level j node: k − j children f : [n] 7→ R depends only on the number of players choosing an element. Nash Equilibrium s Pk−1 W (s) = 1 + j=1 (k − 1) · Optimum s∗ (k−1)! (k −j)! W (s∗ ) = 1 + Covering Games: Approximation through Non-Cooperation Pk j=1 (k − 1) · (k−1)! (k−j)! Martin Gairing · 7 Covering Games Upper Bound What to hope for? Example: k=4 I I node ↔ element (we = 1) edge ↔ player I I I |S1 | = 1 |Si | = 2 for i ≥ 2 k + 1 levels I I root: k − 1 children level j node: k − j children f : [n] 7→ R depends only on the number of players choosing an element. Nash Equilibrium s Pk−1 W (s) = 1 + j=1 (k − 1) · Optimum s∗ (k−1)! (k −j)! W (s∗ ) = 1 + Pk j=1 (k − 1) · (k−1)! (k−j)! Theorem PoAf (k) ≤ 1 − 1 1 (k −1)(k−1)! Covering Games: Approximation through Non-Cooperation + Pk−1 1 j=0 j! . Martin Gairing · 7 Covering Games General Lower Bound What is known? A simple example shows: I If f is defined by f (j) = ⇒ PoAf ≤ 12 1 j for all j ∈ N Covering Games: Approximation through Non-Cooperation Martin Gairing · 8 Covering Games General Lower Bound What is known? A simple example shows: I If f is defined by f (j) = ⇒ PoAf ≤ 12 1 j for all j ∈ N Consider utility sharing function which is I non-increasing, I j · f (j) ≤ 1 (no-overpay), and I f (1) = 1 Then the covering game is also a valid utility game. Covering Games: Approximation through Non-Cooperation Martin Gairing · 8 Covering Games General Lower Bound What is known? A simple example shows: I If f is defined by f (j) = ⇒ PoAf ≤ 12 1 j for all j ∈ N Consider utility sharing function which is I non-increasing, I j · f (j) ≤ 1 (no-overpay), and I f (1) = 1 Then the covering game is also a valid utility game. Theorem [ V ETTA, ’02] PoAf ≥ 1 2 Covering Games: Approximation through Non-Cooperation Martin Gairing · 8 Covering Games General Lower Bound General Lower Bound on PoA: I Given utility sharing function f I Define χ = χ(f ) as the smallest number, such that ∀j ∈ N: j · f (j) − f (j + 1) ≤ χ · f (1) Covering Games: Approximation through Non-Cooperation Martin Gairing · 9 Covering Games General Lower Bound General Lower Bound on PoA: I Given utility sharing function f I Define χ = χ(f ) as the smallest number, such that ∀j ∈ N: j · f (j) − f (j + 1) ≤ χ · f (1) Theorem PoAf ≥ 1 χ+1 Covering Games: Approximation through Non-Cooperation Martin Gairing · 9 Covering Games General Lower Bound General Lower Bound on PoA: I Given utility sharing function f I Define χ = χ(f ) as the smallest number, such that ∀j ∈ N: j · f (j) − f (j + 1) ≤ χ · f (1) Theorem PoAf ≥ 1 χ+1 Remarks I Construct f such that χ is minimized. Covering Games: Approximation through Non-Cooperation Martin Gairing · 9 Covering Games Optimum Lower Bound Construct f that minimizes χ Task min χ s.t. I i · f (i) − f (i + 1) ≤ χ · f (1) I (k − 1) · f (k) ≤ χ · f (1) for all i ∈ [k − 1] Covering Games: Approximation through Non-Cooperation Martin Gairing · 10 Covering Games Optimum Lower Bound Construct f that minimizes χ Task min χ s.t. I i · f (i) − f (i + 1) ≤ χ · f (1) I (k − 1) · f (k) ≤ χ · f (1) 0 1−χ B −χ B B . B . B . B B −χ B B . B . B B . B B −χ @ −χ −χ −1 2 0 −1 . 0 for all i ∈ [k − 1] . . ... 0 0 . . i 0 0 ... ... ... 0 0 0 ··· ··· 0 ··· . −1 . 0 0 0 0 0 . 0 0 0 . . . . k −2 0 0 Covering Games: Approximation through Non-Cooperation −1 k −1 0 0 0 . . . 0 . . . 0 −1 k −1 1 C C C C C C C C C C C C C C A Martin Gairing · 10 Covering Games Optimum Lower Bound Construct f that minimizes χ Task min χ s.t. I i · f (i) − f (i + 1) ≤ χ · f (1) I (k − 1) · f (k) ≤ χ · f (1) 0 B B B B B B B B B B B B B B @ 1−χ −χ . . . −χ . . . −χ −χ[1 + (k − 1)] −χ −1 2 0 −1 . 0 for all i ∈ [k − 1] . . ... 0 0 . . i 0 0 ... ... ... 0 0 0 ··· ··· 0 ··· . −1 . 0 0 0 0 0 . 0 0 0 . . . . k −2 0 0 Covering Games: Approximation through Non-Cooperation −1 (k − 1)2 0 0 0 . . . 0 . . . 0 0 k −1 1 C C C C C C C C C C C C C C A Martin Gairing · 10 Covering Games Optimum Lower Bound Construct f that minimizes χ Task min χ s.t. I i · f (i) − f (i + 1) ≤ χ · f (1) I (k − 1) · f (k) ≤ χ · f (1) 1−χ −χ B B B . B . B . B B −χ B B . B . B . B h i B P B −χ 1 + (k − 1) 2 (k −1)! B j=1 (k−j)! @ −χ[1 + (k − 1)] −χ 0 −1 2 for all i ∈ [k − 1] 0 −1 . 0 . . ... 0 0 . . i 0 0 0 0 ··· ··· 0 ··· . −1 . . . . . . 0 0 . . . 0 . . . 0 ... 0 0 (k − 1)2 (k − 2) 0 0 0 0 ... ... 0 0 0 0 0 0 (k − 1)2 0 0 k −1 Covering Games: Approximation through Non-Cooperation 1 C C C C C C C C C C C C C C C A Martin Gairing · 10 Covering Games Optimum Lower Bound Construct f that minimizes χ Task min χ s.t. 0 B B B B B B B B B B B B B @ I i · f (i) − f (i + 1) ≤ χ · f (1) I (k − 1) · f (k) ≤ χ · f (1) h Pk −1 (k −1)! i (k − 1)(k − 1)! − χ 1 + (k − 1) j=1 (k −j)! . . . h P −i (k−1)! i −χ 1 + (k − 1) kj=1 (k −j)! . . . −χ[1 + (k − 1)] −χ for all i ∈ [k − 1] 0 0 . 0 0 . .. ... 0 (k −1)! (k − 1) (i−1)! ... ... Covering Games: Approximation through Non-Cooperation ··· .. 0 . 0 0 0 0 0 .. 0 0 0 . ··· (k − 1) 0 1 . . . C C C C C C C C C C C C C A 0 .. 0 0 0 2 . . . 0 k −1 Martin Gairing · 10 Covering Games Optimum Lower Bound Construct f that minimizes χ 0 B B B B B B B B B B B B B @ h i P (k −1)! (k − 1)(k − 1)! − χ 1 + (k − 1) k−1 j=1 (k −j)! . . . i h P (k −1)! −χ 1 + (k − 1) k−i j=1 (k −j)! . . . −χ[1 + (k − 1)] −χ 0 0 . 0 . 0 . . ... . 0 . (k −1)! (k − 1) (i−1)! 0 . 0 0 ... ... 0 0 ··· 0 . 0 0 ··· 0 . . . 0 0 1 . . . C C C C C C C C C C C C C A 0 . (k − 1) 0 0 2 . . . 0 k −1 k is known I χ= 1 P −1 1 1 + kj=1 (k−1)(k −1)! j! Covering Games: Approximation through Non-Cooperation Martin Gairing · 11 Covering Games Optimum Lower Bound Construct f that minimizes χ 0 B B B B B B B B B B B B B @ h i P (k −1)! (k − 1)(k − 1)! − χ 1 + (k − 1) k−1 j=1 (k −j)! . . . i h P (k −1)! −χ 1 + (k − 1) k−i j=1 (k −j)! . . . −χ[1 + (k − 1)] −χ 0 0 . 0 . 0 . . ... . 0 . (k −1)! (k − 1) (i−1)! 0 . 0 0 ... ... 0 0 ··· 0 . 0 0 ··· 0 . . . 0 0 1 . . . C C C C C C C C C C C C C A 0 . (k − 1) 0 0 2 . . . 0 k −1 k is known 1 I χ= I Utility sharing function: P P −1 1 1 + kj=1 (k−1)(k −1)! j! 1 −1)! f (i) = (i − 1)! (k −1)(k 1 (k −1)(k −1)! + + k−1 1 j=i j! 1 j=1 j! Pk−1 Covering Games: Approximation through Non-Cooperation Martin Gairing · 11 Covering Games Optimum Lower Bound Construct f that minimizes χ 0 B B B B B B B B B B B B B @ h i P (k −1)! (k − 1)(k − 1)! − χ 1 + (k − 1) k−1 j=1 (k −j)! . . . i h P (k −1)! −χ 1 + (k − 1) k−i j=1 (k −j)! 0 0 . 0 . . . −χ[1 + (k − 1)] −χ . 0 . . ... . 0 . (k −1)! (k − 1) (i−1)! 0 . 0 0 ... ... 0 0 ··· 0 . 0 0 ··· 0 . . . 0 0 1 . . . C C C C C C C C C C C C C A 0 . (k − 1) 0 0 2 . . . 0 k −1 k is known 1 I χ= I Utility sharing function: P P −1 1 1 + kj=1 (k−1)(k −1)! j! 1 −1)! f (i) = (i − 1)! (k −1)(k 1 (k −1)(k −1)! I PoAf ≥ 1 − + + k−1 1 j=i j! 1 j=1 j! Pk−1 1 P −1 1 + kj=0 (k−1)(k−1)! 1 j! Covering Games: Approximation through Non-Cooperation Martin Gairing · 11 Covering Games Optimum Lower Bound Construct f that minimizes χ 0 B B B B B B B B B B B B B @ h i P (k −1)! (k − 1)(k − 1)! − χ 1 + (k − 1) k−1 j=1 (k −j)! . . . i h P (k −1)! −χ 1 + (k − 1) k−i j=1 (k −j)! . . . −χ[1 + (k − 1)] −χ 0 . 0 0 0 . . . 0 . (k −1)! (k − 1) (i−1)! ... 0 0 ... ... ··· 0 0 . ··· 0 . . . 0 0 (k − 1) 0 1 . . . C C C C C C C C C C C C C A 0 . 0 0 0 2 . . . 0 k −1 k is unknown (k → ∞) 1 I χ= I Utility sharing function: P P −1 1 1 + kj=1 (k−1)(k −1)! j! f (i) = (i − 1)! PoAf ≥ 1 − . 0 . k is known I 0 1 + k−1 j=i (k −1)(k −1)! P 1 + k−1 j=1 (k −1)(k −1)! 1 P −1 1 1 + kj=0 (k−1)(k−1)! j! 1 e−1 I χ= I Utility sharing function: P 1 j! 1 j! f (i) = (i − 1)! I PoAf ≥ 1 − Covering Games: Approximation through Non-Cooperation e− i−1 1 j=0 j! e−1 1 e Martin Gairing · 11 Covering Games Distributed (Local Search) Approximation Algorithm Distributed Approximation Algorithm Task I Turn this into (1 − 1e )-approximation algorithm. I I I Start with arbitrary strategy profile. Let players unilaterally improve. (selfish steps) Use Rosenthals potential function to bound running time. Covering Games: Approximation through Non-Cooperation Martin Gairing · 12 Covering Games Distributed (Local Search) Approximation Algorithm Distributed Approximation Algorithm Task I Turn this into (1 − 1e )-approximation algorithm. I I I Start with arbitrary strategy profile. Let players unilaterally improve. (selfish steps) Use Rosenthals potential function to bound running time. Problem I Increase in potential function can be arbitrary small. Covering Games: Approximation through Non-Cooperation Martin Gairing · 12 Covering Games Distributed (Local Search) Approximation Algorithm Distributed Approximation Algorithm Task I Turn this into (1 − 1e )-approximation algorithm. I I I Start with arbitrary strategy profile. Let players unilaterally improve. (selfish steps) Use Rosenthals potential function to bound running time. Problem I Increase in potential function can be arbitrary small. Solution I choose constant k 0 ∈ N I f (i) = 0 for i > k 0 I This yields (1 − 1 e − ε)-approximation algorithm (ε = ε(k 0 ) = o(1)) Covering Games: Approximation through Non-Cooperation Martin Gairing · 12 Covering Games Distributed (Local Search) Approximation Algorithm A local search approximation algorithm Theorem For every ε > 0, there exists a (local-search) approximation algorithm I I with approximation ratio 1 − that uses at most O( 1ε 1 e − ε, · log log( 1ε )) · W selfish steps. Best Possible [Feige, JouACM’98] Covering Games: Approximation through Non-Cooperation Martin Gairing · 13 Covering Games Distributed (Local Search) Approximation Algorithm A local search approximation algorithm Theorem For every ε > 0, there exists a (local-search) approximation algorithm I with approximation ratio 1 − O( 1ε 1 e − ε, · log log( 1ε )) · W selfish steps. I that uses at most I What happens if W is arbitrary? Theorem Then, for every (non-constant) utility sharing function, computing a pure Nash equilibrium is PLS-complete. Covering Games: Approximation through Non-Cooperation Martin Gairing · 13 Covering Games Distributed (Local Search) Approximation Algorithm A local search approximation algorithm Theorem For every ε > 0, there exists a (local-search) approximation algorithm I with approximation ratio 1 − O( 1ε 1 e − ε, · log log( 1ε )) · W selfish steps. I that uses at most I What happens if W is arbitrary? Theorem Then, for every (non-constant) utility sharing function, computing a pure Nash equilibrium is PLS-complete. Theorem There exists a (centralized) polynomial-time (1 − 1e )-approximation algorithm for the general covering problem. Covering Games: Approximation through Non-Cooperation Martin Gairing · 13 Conclusion Overview Covering Games We showed: I For every utility sharing function f , PoAf ≤ 1 − e1 . I There exists f with PoAf ≥ 1 − 1e . I Local search approximation algorithm if W is bounded by polynom in n, |E|. I Limits of our approach I Centralized Approximation Algorithm Covering Games: Approximation through Non-Cooperation 5 3 4 6 11 9 2 1 9 6 2 13 24 8 9 18 6 3 1 1 Martin Gairing · 14 Conclusion Overview Covering Games We showed: I For every utility sharing function f , PoAf ≤ 1 − e1 . I There exists f with PoAf ≥ 1 − 1e . I Local search approximation algorithm if W is bounded by polynom in n, |E|. I Limits of our approach I Centralized Approximation Algorithm Open Problems I I weighted case: restrict to ε-NE More general models I I I we is not constant element must be covered multiple times ... Covering Games: Approximation through Non-Cooperation 5 3 4 6 11 9 2 1 9 6 2 13 24 8 9 18 6 3 1 1 Martin Gairing · 14