Deterministic scheduling in computing and manufacturing systems: a survey of models and algorithms

Scheduling problems deal with the assignment of tasks, over time, to processors, so as to optimize a performance criterion, while satisfying a set of given constraints. In this paper a comprehensive survey of the major results in this area is presented. Specifically, a unified formulation of deterministic scheduling models (problems) is provided on the basis of the three standard data fields, viz. the task set, the processor set, and the optimality criterion set. Some particular practical interpretations of these problems are briefly outlined, and a general discussion on their solution approaches is included. The main body of the paper examines the classes of “parallel processor scheduling” and “resource constrained scheduling” problems. In both classes the following cases are considered: (i) makespan minimization, (ii) maximum lateness minimization, (iii) mean and mean weighted flow time minimization, and (iv) maximum weighted lateness minimization. The paper ends with a discussion of some problems of the sequencing, open-shop, job-shop and flow-shop types, and with some remarks on the potentiality of artificial intelligence and expert systems to solve difficult scheduling problems.

[1]  Suraj M. Alexander An expert system for the selection of scheduling rules in a job shop , 1987 .

[2]  Alice M. Mulvehill A user interface for a knowledge-based planning and scheduling system , 1988, IEEE Trans. Syst. Man Cybern..

[3]  Heimo H. Adelsberger,et al.  Expert systems in production scheduling , 1987 .

[4]  J. Lenstra,et al.  Job-Shop Scheduling by Implicit Enumeration , 1977 .

[5]  Sartaj Sahni,et al.  Algorithms for Scheduling Independent Tasks , 1976, J. ACM.

[6]  Linus Schrage,et al.  Finding an Optimal Sequence by Dynamic Programming: An Extension to Precedence-Related Tasks , 1978, Oper. Res..

[7]  D. S. Johnson,et al.  On Packing Two-Dimensional Bins , 1982 .

[8]  Uday S. Karmarkar,et al.  Simultaneous Resource Scheduling to Minimize Weighted Flow Times , 1989, Oper. Res..

[9]  A. Kan Machine Scheduling Problems: Classification, Complexity and Computations , 1976 .

[10]  J. M. Moore,et al.  A Functional Equation and its Application to Resource Allocation and Sequencing Problems , 1969 .

[11]  Manfred Kunde,et al.  On the Worst-Case Ratio of a Compound Multiprocessor Scheduling Algorithm , 1987, Inf. Process. Lett..

[12]  Shui Lam,et al.  Worst Case Analysis of Two Scheduling Algorithms , 1977, SIAM J. Comput..

[13]  Clyde L. Monma,et al.  Linear-Time Algorithms for Scheduling on Parallel Processors , 1982, Oper. Res..

[14]  A. J. Clewett,et al.  Introduction to sequencing and scheduling , 1974 .

[15]  Teofilo F. Gonzalez,et al.  Optimal Preemptive Scheduling of Two Unrelated Processors , 1990, INFORMS J. Comput..

[16]  Shimon Even,et al.  An O (N2.5) algorithm for maximum matching in general graphs , 1975, 16th Annual Symposium on Foundations of Computer Science (sfcs 1975).

[17]  Robert R. Love,et al.  The Single-Plant Mold Allocation Problem with Capacity and Changeover Restrictions , 1978, Oper. Res..

[18]  Jon K. Wilbrecht,et al.  The Influence of Setup Time on Job Shop Performance , 1969 .

[19]  Michael A. Langston,et al.  Bounds for Multifit Scheduling on Uniform Processors , 1983, SIAM J. Comput..

[20]  Kenneth Leroy Krause,et al.  Analysis of computer scheduling with memory constraints. , 1973 .

[21]  C. L. Philip Chen,et al.  Efficient scheduling algorithms for robot inverse dynamics computation on a multiprocessor system , 1988, IEEE Trans. Syst. Man Cybern..

[22]  S. Tzafestas,et al.  Improved optimal algorithms for scheduling unit-length independent tasks on uniform machines , 1994 .

[23]  M. Fujii,et al.  Optimal Sequencing of Two Equivalent Processors , 1969 .

[24]  B. J. Lageweg,et al.  Computer-Aided complexity classification of combinational problems , 1982, CACM.

[25]  Jeremy P. Spinrad Worst-case analysis of a scheduling algorithm , 1985 .

[26]  G. Rand Sequencing and Scheduling: An Introduction to the Mathematics of the Job-Shop , 1982 .

[27]  Hironori Kasahara,et al.  Parallel processing of robot-arm control computation on a multimicroprocessor system , 1985, IEEE J. Robotics Autom..

[28]  Herb Schwetman,et al.  Analysis of Several Task-Scheduling Algorithms for a Model of Multiprogramming Computer Systems , 1975, JACM.

[29]  David S. Johnson,et al.  Computers and Intractability: A Guide to the Theory of NP-Completeness , 1978 .

[30]  J. Błażewicz,et al.  Scheduling unit — time tasks on flow — shops under resource constraints , 1988 .

[31]  E. Lawler Sequencing Jobs to Minimize Total Weighted Completion Time Subject to Precedence Constraints , 1978 .

[32]  Stephen F. Smith,et al.  ISIS—a knowledge‐based system for factory scheduling , 1984 .

[33]  Oscar H. Ibarra,et al.  Bounds for LPT Schedules on Uniform Processors , 1977, SIAM J. Comput..

[34]  D.J. Hoitomt,et al.  Scheduling jobs with simple precedence constraints on parallel machines , 1990, IEEE Control Systems Magazine.

[35]  Ronald L. Graham,et al.  Bounds on Multiprocessing Timing Anomalies , 1969, SIAM Journal of Applied Mathematics.

[36]  Qinghua Jiang A New Approach to Perturbation Analysis for Manufacturing Scheduling Problems (MSP) , 1987 .

[37]  Krishna R. Pattipati,et al.  Schedule generation and reconfiguration for parallel machines , 1990, IEEE Trans. Robotics Autom..

[38]  Jeffrey B. Sidney,et al.  Decomposition Algorithms for Single-Machine Sequencing with Precedence Relations and Deferral Costs , 1975, Oper. Res..

[39]  J. Y. S. LUH,et al.  Scheduling of Parallel Computation for a Computer-Controlled Mechanical Manipulator , 1982, IEEE Transactions on Systems, Man, and Cybernetics.

[40]  Eugene L. Lawler,et al.  On Preemptive Scheduling of Unrelated Parallel Processors by Linear Programming , 1978, JACM.

[41]  Camille C. Price,et al.  Scheduling of Precedence-Constrained Tasks on Multiprocessors , 1990, Comput. J..

[42]  Wieslaw Kubiak,et al.  Minimizing mean flow-time with parallel processors and resource constraints , 1987, Acta Informatica.

[43]  Frank Ruskey,et al.  Some Optimum Algorithms for Scheduling Problems with Changeover Costs , 1987, Oper. Res..

[44]  Andrew Chi-Chih Yao,et al.  Resource Constrained Scheduling as Generalized Bin Packing , 1976, J. Comb. Theory A.

[45]  D. de Werra,et al.  A tutorial on heuristic methods , 1980 .

[46]  Don T. Phillips,et al.  A state-of-the-art survey of dispatching rules for manufacturing job shop operations , 1982 .

[47]  E P O'Grady Problem partitioning in parallel processor simulation systems , 1986 .

[48]  Marius M. Solomon,et al.  Algorithms for the Vehicle Routing and Scheduling Problems with Time Window Constraints , 1987, Oper. Res..

[49]  Ravi Sethi,et al.  On the Complexity of Mean Flow Time Scheduling , 1977, Math. Oper. Res..

[50]  David G. Dannenbring,et al.  An Evaluation of Flow Shop Sequencing Heuristics , 1977 .

[51]  S. M. Johnson,et al.  Optimal two- and three-stage production schedules with setup times included , 1954 .

[52]  Victor J. Rayward-Smith,et al.  The Complexity of Preemptive Scheduling Given Interprocessor Communication Delays , 1987, Inf. Process. Lett..

[53]  S. S. Panwalkar,et al.  A Survey of Scheduling Rules , 1977, Oper. Res..

[54]  J. M. Moore An n Job, One Machine Sequencing Algorithm for Minimizing the Number of Late Jobs , 1968 .

[55]  David S. Johnson,et al.  Complexity Results for Multiprocessor Scheduling under Resource Constraints , 1975, SIAM J. Comput..

[56]  Spyros G. Tzafestas,et al.  A new adaptively weighted combinatorial dispatching rule for complex scheduling problems , 1994 .

[57]  E.L. Lawler,et al.  Optimization and Approximation in Deterministic Sequencing and Scheduling: a Survey , 1977 .

[58]  W. A. Horn Single-Machine Job Sequencing with Treelike Precedence Ordering and Linear Delay Penalties , 1972 .

[59]  David J. Evans,et al.  Analysis of the Q.A.D. algorithm for an homogeneous multiprocessor computing model with independent memories , 1985 .

[60]  Spyros G. Tzafestas,et al.  An optimal scheduling algorithm for minimizing the maximum weighted lateness of unit-length independent tasks , 1993 .

[61]  David D. Yao,et al.  Optimal scheduling control of a flexible machine , 1990, IEEE Trans. Robotics Autom..

[62]  Kenneth C. Sevcik,et al.  A Combinatorial Approach to Dynamic Scheduling Problems , 1978, Oper. Res..

[63]  Jan Karel Lenstra,et al.  Probabilistic analysis of combinatorial algorithms: an annotated bibliography , 1984 .

[64]  Robert C. Leachman,et al.  A Heuristic scheduling policy for multi-item, single-machine production systems with time-varying, stochastic demands , 1988 .

[65]  William L. Maxwell,et al.  Theory of scheduling , 1967 .

[66]  Edward G. Coffman,et al.  Preemptive Scheduling of Real-Time Tasks on Multiprocessor Systems , 1970, JACM.

[67]  E. Lawler A “Pseudopolynomial” Algorithm for Sequencing Jobs to Minimize Total Tardiness , 1977 .

[68]  Shimon Even,et al.  Bounds for the Optimal Scheduling of n Jobs on m Processors , 1964 .

[69]  Jacek Blazewicz,et al.  Deadline Scheduling of Tasks with Ready Times and Resource Constraints , 1979, Inf. Process. Lett..

[70]  Sartaj Sahni,et al.  General Techniques for Combinatorial Approximation , 1977, Oper. Res..

[71]  E. L. Lawler,et al.  Recent Results in the Theory of Machine Scheduling , 1982, ISMP.

[72]  T. Sen,et al.  A branch-and-bound approach to the bicriterion scheduling problem invloving total flowtime and range of lateness , 1988 .

[73]  Christine M. Mitchell,et al.  The effectiveness of supervisory control strategies in scheduling flexible manufacturing systems , 1988, IEEE Trans. Syst. Man Cybern..

[74]  Edward G. Coffman,et al.  Computer and job-shop scheduling theory , 1976 .

[75]  John L. Bruno,et al.  Complexity of Task Sequencing with Deadlines, Set-Up Times and Changeover Costs , 1978, SIAM J. Comput..

[76]  Richard Weber,et al.  On the interactive solution to a multicriteria scheduling problem , 1980, Z. Oper. Research.

[77]  C. A. Komar,et al.  The Effectiveness of Three Heuristic Rules for Job Sequencing in a Single Production Facility , 1973 .

[78]  Ye-Hwa Chen Real-time feedback scheduling of flexible manufacturing systems , 1992, J. Intell. Robotic Syst..

[79]  Ronald L. Graham,et al.  Bounds for Multiprocessor Scheduling with Resource Constraints , 1975, SIAM J. Comput..

[80]  Sartaj Sahni,et al.  Nearly On Line Scheduling of a Uniform Processor System with Release Times , 1979, SIAM J. Comput..

[81]  Ellis Horowitz,et al.  Combinatorial Problems: Reductibility and Approximation , 1978, Oper. Res..

[82]  Gabriel R. Bitran,et al.  Production Planning of Style Goods with High Setup Costs and Forecast Revisions , 1986, Oper. Res..

[83]  Wlodzimierz Szwarc Optimal Two-Machine Orderings in the 3 × n Flow-Shop Problem , 1977, Oper. Res..

[84]  D. K. Friesen,et al.  Variable Sized Bin Packing , 1986, SIAM J. Comput..

[85]  M. Fisher Worst-Case Analysis of Heuristic Algorithms , 1980 .

[86]  Mark S. Fox,et al.  Autonomous Manufacturing: Automating the Job-Shop , 1984, Computer.

[87]  William L. Berry,et al.  Critical Ratio Scheduling: An Experimental Analysis , 1975 .

[88]  R. Słowiński Multiobjective network scheduling with efficient use of renewable and nonrenewable resources , 1981 .

[89]  C. L. Liu,et al.  On a Class of Scheduling Algorithms for Multiprocessors Computing Systems , 1974, Sagamore Computer Conference.

[90]  Ten-Hwang Lai,et al.  Preemptive Scheduling of Independent Jobs on a Hypercube , 1988, Inf. Process. Lett..

[91]  Jitender S. Deogun,et al.  On Periodic Scheduling of Time-Critical Tasks , 1986, IFIP Congress.

[92]  David J. Evans,et al.  Generalized Worst-Case Bounds for an Homogeneous Multiprocessor Model with Independent Memories - Completion Time Performance Criterion , 1985, Perform. Evaluation.

[93]  Robert E. Tarjan,et al.  Scheduling Unit-Time Tasks with Arbitrary Release Times and Deadlines , 1981, SIAM J. Comput..

[94]  Sartaj Sahni,et al.  Preemptive Scheduling of Independent Jobs with Release and Due Times on Open, Flow and Job Shops , 1981, Oper. Res..

[95]  Teofilo F. Gonzalez,et al.  Flowshop and Jobshop Schedules: Complexity and Approximation , 1978, Oper. Res..

[96]  Jean-Loup Baer,et al.  A Survey of Some Theoretical Aspects of Multiprocessing , 1973, CSUR.

[97]  Krithi Ramamritham,et al.  Efficient Scheduling Algorithms for Real-Time Multiprocessor Systems , 1989, IEEE Trans. Parallel Distributed Syst..

[98]  B. D. Sivazlian,et al.  Minimization of Time-Varying Costs in Single-Machine Scheduling , 1978, Oper. Res..

[99]  Tadeusz Sawik Scheduling multi-operational tasks on nonidentical machines as a time-optimal control problem , 1982 .

[100]  Spyros G. Tzafestas,et al.  System Fault Diagnostics, Reliability and Related Knowledge-Based Approaches , 1987, Springer Netherlands.

[101]  Edward G. Coffman,et al.  An Application of Bin-Packing to Multiprocessor Scheduling , 1978, SIAM J. Comput..

[102]  Carl R. Schultz,et al.  An expediting heuristic for the shortest processing time dispatching rule , 1989 .

[103]  Mario J. Gonzalez Deterministic Processor Scheduling , 1977, CSUR.

[104]  Teofilo F. Gonzalez,et al.  Preemptive Scheduling of Uniform Processor Systems , 1978, JACM.

[105]  J. Blazewicz,et al.  Selected Topics in Scheduling Theory , 1987 .

[106]  K. Preston White,et al.  A recent survey of production scheduling , 1988, IEEE Trans. Syst. Man Cybern..

[107]  Sant Arora,et al.  The Sequencing Problem , 1969 .

[108]  Kenneth R. Baker,et al.  Scheduling with parallel processors and linear delay costs , 1973 .

[109]  Edward G. Coffman,et al.  Scheduling independent tasks to reduce mean finishing time , 1974, CACM.

[110]  David Ronen Short-Term Scheduling of Vessels for Shipping Bulk or Semi-Bulk Commodities Originating in a Single Area , 1986, Oper. Res..

[111]  David S. Johnson,et al.  Scheduling Tasks with Nonuniform Deadlines on Two Processors , 1976, J. ACM.

[112]  T. J. Grant,et al.  Lessons for O.R. from A.I.: A Scheduling Case Study , 1986 .

[113]  Jeffrey B. Sidney,et al.  Optimal Single-Machine Scheduling with Earliness and Tardiness Penalties , 1977, Oper. Res..

[114]  Joseph Y.-T. Leung,et al.  Scheduling Tree-Structured Tasks with Restricted Execution Times , 1988, Inf. Process. Lett..

[115]  Jan Karel Lenstra,et al.  Scheduling subject to resource constraints: classification and complexity , 1983, Discret. Appl. Math..

[116]  Roman Słowiński,et al.  Modelling and Solving Multicriteria Project Scheduling Problems , 1983 .

[117]  Sudarshan K. Dhall,et al.  On a Real-Time Scheduling Problem , 1978, Oper. Res..

[118]  Jacek Blazewicz,et al.  Scheduling Dependent Tasks with Different Arrival Times to Meet Deadlines , 1976, Performance.

[119]  T. C. E. Cheng,et al.  Optimal Due-Date Determination and Sequencing of n Jobs on a Single Machine , 1984 .

[120]  Alfred V. Aho,et al.  The Design and Analysis of Computer Algorithms , 1974 .

[121]  E. L. Lawler,et al.  Preemptive Scheduling of. Precedence-Constrained Jobs on Parallel Machines , 1981 .

[122]  L. V. Wassenhove,et al.  Algorithms for scheduling a single machine to minimize the weighted number of late jobs , 1988 .

[123]  Jitender S. Deogun On Scheduling with Ready Times to Minimize Mean Flow Time , 1983, Comput. J..

[124]  Wayne E. Smith Various optimizers for single‐stage production , 1956 .

[125]  Helman Stern,et al.  Minimal Resources for Fixed and Variable Job Schedules , 1978, Oper. Res..

[126]  David S. Johnson,et al.  Scheduling Equal-Length Tasks Under Treelike Precedence Constraints to Minimize Maximum Lateness , 1977, Math. Oper. Res..

[127]  David S. Johnson,et al.  Fast Algorithms for Bin Packing , 1974, J. Comput. Syst. Sci..

[128]  T. C. Hu Parallel Sequencing and Assembly Line Problems , 1961 .

[129]  Jan Weglarz,et al.  Multiprocessor Scheduling with Memory Allocation - A Deterministic Approach , 1980, IEEE Trans. Computers.

[130]  Shui Lam,et al.  A Level Algorithm for Preemptive Scheduling , 1977, J. ACM.

[131]  Wieslaw Kubiak,et al.  Scheduling tasks on two processors with deadlines and additional resources , 1986 .

[132]  Edward G. Coffman,et al.  Optimal Preemptive Scheduling on Two-Processor Systems , 1969, IEEE Transactions on Computers.

[133]  Wojciech Cellary,et al.  A strategy for scheduling splittable tasks to reduce schedule length , 1977, Acta Cybern..

[134]  Christine M. Mitchell,et al.  Decision models for aiding FMS scheduling and control , 1988, IEEE Trans. Syst. Man Cybern..

[135]  Andrew Kusiak Manufacturing systems: A knowledge- and optimization-based approach , 1990, J. Intell. Robotic Syst..

[136]  Jan Karel Lenstra,et al.  Complexity of Scheduling under Precedence Constraints , 1978, Oper. Res..

[137]  B. J. Lageweg,et al.  Computer aided complexity classification of deterministic scheduling problems , 1981 .

[138]  Jan Karel Lenstra,et al.  Complexity of machine scheduling problems , 1975 .

[139]  Gerd Finke,et al.  New trends in machine scheduling , 1988 .

[140]  Maurice Queyranne,et al.  The Time-Dependent Traveling Salesman Problem and Its Application to the Tardiness Problem in One-Machine Scheduling , 1978, Oper. Res..

[141]  Robert McNaughton,et al.  Scheduling with Deadlines and Loss Functions , 1959 .

[142]  J. Baewicz,et al.  A linear time algorithm for restricted bin packing and scheduling problems , 1983 .

[143]  David S. Johnson,et al.  Scheduling Opposing Forests , 1983 .

[144]  B. J. Lageweg,et al.  Minimizing Total Costs in One-Machine Scheduling , 1975, Oper. Res..

[145]  Edward G. Coffman,et al.  A generalized bound on LPT sequencing , 1976, SIGMETRICS '76.

[146]  Marius Sinclair,et al.  Combined Routeing and Scheduling for the Transportation of Containerized Cargo , 1987 .

[147]  Ronald L. Graham,et al.  Performance Guarantees for Scheduling Algorithms , 1978, Oper. Res..

[148]  Andrew Kusiak Aggregate scheduling of a flexible machining and assembly system , 1989, IEEE Trans. Robotics Autom..

[149]  Jane W.-S. Liu,et al.  Bounds on Scheduling Algorithms for Heterogeneous Comnputing Systems , 1974, IFIP Congress.

[150]  Günter Schmidt,et al.  Scheduling Independent Tasks with Deadlines on Semi-identical Processors , 1988 .

[151]  Jan Karel Lenstra,et al.  Recent developments in deterministic sequencing and scheduling: a survey : (preprint) , 1981 .

[152]  Giuseppe Menga,et al.  Hybrid hierarchical scheduling and control systems in manufacturing , 1990, IEEE Trans. Robotics Autom..

[153]  E. Bensana,et al.  OPAL: A Knowledge-Based System for Industrial Job-Shop Scheduling , 1988 .

[154]  David S. Johnson,et al.  Two-Processor Scheduling with Start-Times and Deadlines , 1977, SIAM J. Comput..

[155]  Jacek Blazewicz,et al.  Simple Algorithms for Multiprocessor Scheduling to Meet Deadlines , 1977, Inf. Process. Lett..

[156]  Oscar H. Ibarra,et al.  Heuristic Algorithms for Scheduling Independent Tasks on Nonidentical Processors , 1977, JACM.

[157]  Teofilo F. Gonzalez,et al.  A New Algorithm for Preemptive Scheduling of Trees , 1980, JACM.

[158]  W. A. Horn Some simple scheduling algorithms , 1974 .

[159]  Teofilo F. Gonzalez,et al.  Open Shop Scheduling to Minimize Finish Time , 1976, JACM.

[160]  Wieslaw Kubiak,et al.  Chapter 3 – SCHEDULING INDEPENDENT FIXED-TYPE TASKS , 1989 .

[161]  Gideon Weiss,et al.  Stochastic scheduling problems I — General strategies , 1984, Z. Oper. Research.

[162]  Christos Koulamas,et al.  Look-ahead scheduling for minimizing machine interference , 1988 .

[163]  D. Teichroew,et al.  Optimal Short Term Financing Decision , 1965 .