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Documents authored by Hanzálek, Zdeněk

Document
DOI: 10.4230/LIPIcs.CP.2026.28
Accelerating Constraint Programming Solver with Parallel External Heuristics: Experiments on Scheduling and Routing Problems

Authors: Vilém Heinz, Šimon Zvára, Vít Knobloch, Zdeněk Hanzálek, and Petr Vilím

Published in: LIPIcs, Volume 379, 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)

Abstract
Constraint Programming (CP) is a powerful optimization method that provides optimality guarantees, but due to its exact nature, its scalability to large instances is often limited. To address this, we propose a hybrid approach that combines a CP solver with heuristic methods, directly and asynchronously exchanging solutions and objective values during runtime. The hybrid parallel configuration yields faster convergence to good solutions across various problem domains than the solver alone, while retaining the ability to guarantee optimality, leveraging the complementary nature of the CP solver and heuristics. The efficiency of this approach is evaluated on three well-known scheduling problems and three well-known routing problems. Noticeable improvements are observed for the Flow-shop Scheduling Problem (FSSP), the Traveling Salesman Problem (TSP), and the Vehicle Routing Problem with Time Windows (VRP-TW). Even for problems where improvements are marginal, the portfolio of methods increases the robustness of the approach.
Cite as

Vilém Heinz, Šimon Zvára, Vít Knobloch, Zdeněk Hanzálek, and Petr Vilím. Accelerating Constraint Programming Solver with Parallel External Heuristics: Experiments on Scheduling and Routing Problems. In 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 379, pp. 28:1-28:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{heinz_et_al:LIPIcs.CP.2026.28,
  author =	{Heinz, Vil\'{e}m and Zv\'{a}ra, \v{S}imon and Knobloch, V{\'\i}t and Hanz\'{a}lek, Zden\v{e}k and Vil{\'\i}m, Petr},
  title =	{{Accelerating Constraint Programming Solver with Parallel External Heuristics: Experiments on Scheduling and Routing Problems}},
  booktitle =	{32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)},
  pages =	{28:1--28:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-432-1},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{379},
  editor =	{Beldiceanu, Nicolas},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CP.2026.28},
  URN =		{urn:nbn:de:0030-drops-266608},
  doi =		{10.4230/LIPIcs.CP.2026.28},
  annote =	{Keywords: Constraint Programming, Hybridization, Heuristics, Discrete Optimization, Scheduling, Routing}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2025.1
A First Look at ROS 2 Applications Written in Asynchronous Rust

Authors: Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous programming. Existing real-time scheduling and response-time analysis techniques for ROS 2 focus on applications written in C++ and do not address the unique execution models and challenges presented by Rust’s asynchronous programming paradigm. In this paper, we analyze the execution model of R2R - an asynchronous Rust ROS 2 bindings and various asynchronous Rust runtimes, comparing them with the execution model of C++ ROS 2 applications. We propose a structured approach for R2R applications aimed at deterministic real-time operation involving thread prioritization and callback-to-thread mapping schemes. Our experimental evaluation based on measuring end-to-end latencies of a synthetic application shows that the proposed approach is effective and outperforms other evaluated configurations. A more complex autonomous driving case study demonstrates its practical applicability. Overall, the experimental results indicate that our proposed structure achieves bounded response times for time-critical tasks. This paves the way for future work to adapt existing or develop new response-time analysis techniques for R2R applications using our structure.
Cite as

Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek. A First Look at ROS 2 Applications Written in Asynchronous Rust. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1:1-1:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{skoudlil_et_al:LIPIcs.ECRTS.2025.1,
  author =	{\v{S}koudlil, Martin and Sojka, Michal and Hanz\'{a}lek, Zden\v{e}k},
  title =	{{A First Look at ROS 2 Applications Written in Asynchronous Rust}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{1:1--1:21},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.1},
  URN =		{urn:nbn:de:0030-drops-235794},
  doi =		{10.4230/LIPIcs.ECRTS.2025.1},
  annote =	{Keywords: ROS, Rust, Real-time, Response time}
}
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