Chapter 3. Complete Algorithms

Complete SAT algorithms form an important part of the SAT literature. From a theoretical perspective, complete algorithms can be used as tools for studying the complexities of different proof systems. From a practical point of view, these algorithms form the basis for tackling SAT problems arising from real-world applications. The practicality of modern, complete SAT solvers undoubtedly contributes to the growing interest in the class of complete SAT algorithms. We review these algorithms in this chapter, including Davis-Putnum resolution, Stalmarck’s algorithm, symbolic SAT solving, the DPLL algorithm, and modern clause-learning SAT solvers. We also discuss the issue of certifying the answers of modern complete SAT solvers.

Chapter 31. Quantified Boolean Formulas

Solvers for quantified Boolean formulas (QBF) have become powerful tools for tackling hard computational problems from various application domains, even beyond the scope of SAT. This chapter gives a description of the main algorithmic paradigms for QBF solving, including quantified conflict driven clause learning (QCDCL), expansion-based solving, dependency schemes, and QBF preprocessing. Particular emphasis is laid on the connections of these solving approaches to QBF proof systems: Q-Resolution and its variants in the case of QCDCL, expansion QBF resolution calculi for expansion-based solving, and QRAT for preprocessing. The chapter also surveys the relations between the various QBF proof systems and results on their proof complexity, thereby shedding light on the diverse performance characteristics of different solving approaches that are observed in practice.

Chapter 34. Stochastic Boolean Satisfiability

Stochastic satisfiability (SSAT) is an extension of satisfiability (SAT) that merges two important areas of artificial intelligence: logic and probabilistic reasoning. Initially suggested by Papadimitriou, who called it a “game against nature”, SSAT is interesting both from a theoretical perspective–it is complete for PSPACE, an important complexity class–and from a practical perspective–a broad class of probabilistic planning problems can be encoded and solved as SSAT instances. This chapter describes SSAT and its variants, their computational complexity, applications of SSAT, analytical results, algorithms and empirical results, related work, and directions for future work.

Chapter 29. Theory of Quantified Boolean Formulas

Quantified Boolean formulas (QBF) are a generalization of propositional formulas by allowing universal and existential quantifiers over variables. This enhancement makes QBF a concise and natural modeling language in which problems from many areas, such as planning, scheduling or verification, can often be encoded in a more compact way than with propositional formulas. We introduce in this chapter the syntax and semantics of QBF and present fundamental concepts. This includes normal form transformations and Q-resolution, an extension of the propositional resolution calculus. In addition, Boolean function models are introduced to describe the valuation of formulas and the behavior of the quantifiers. We also discuss the expressive power of QBF and provide an overview of important complexity results. These illustrate that the greater capabilities of QBF lead to more complex problems, which makes it interesting to consider suitable subclasses of QBF. In particular, we give a detailed look at quantified Horn formulas (QHORN) and quantified 2-CNF (Q2-CNF).

Chapter 21. Combinatorial Designs by SAT Solvers1

The theory of combinatorial designs has always been a rich source of structured, parametrized families of SAT instances. On one hand, design theory provides interesting problems for testing various SAT solvers; on the other hand, high-performance SAT solvers provide an alternative tool for attacking open problems in design theory, simply by encoding problems as propositional formulas, and then searching for their models using off-the-shelf general purpose SAT solvers. This chapter presents several case studies of using SAT solvers to solve hard design theory problems, including quasigroup problems, Ramsey numbers, Van der Waerden numbers, covering arrays, Steiner systems, and Mendelsohn designs. It is shown that over a hundred of previously-open design theory problems were solved by SAT solvers, thus demonstrating the significant power of modern SAT solvers. Moreover, the chapter provides a list of 30 open design theory problems for the developers of SAT solvers to test their new ideas and weapons.

Chapter 13. Symmetry and Satisfiability

Symmetry is at once a familiar concept (we recognize it when we see it!) and a profoundly deep mathematical subject. At its most basic, a symmetry is some transformation of an object that leaves the object (or some aspect of the object) unchanged. For example, a square can be transformed in eight different ways that leave it looking exactly the same: the identity “do-nothing” transformation, 3 rotations, and 4 mirror images (or reflections). In the context of decision problems, the presence of symmetries in a problem’s search space can frustrate the hunt for a solution by forcing a search algorithm to fruitlessly explore symmetric subspaces that do not contain solutions. Recognizing that such symmetries exist, we can direct a search algorithm to look for solutions only in non-symmetric parts of the search space. In many cases, this can lead to significant pruning of the search space and yield solutions to problems which are otherwise intractable. This chapter explores the symmetries of Boolean functions, particularly the symmetries of their conjunctive normal form (CNF) representations. Specifically, it examines what those symmetries are, how to model them using the mathematical language of group theory, how to derive them from a CNF formula, and how to utilize them to speed up CNF SAT solvers.

Chapter 17. Fixed-Parameter Tractability

Parameterized complexity is a new theoretical framework that considers, in addition to the overall input size, the effects on computational complexity of a secondary measurement, the parameter. This two-dimensional viewpoint allows a fine-grained complexity analysis that takes structural properties of problem instances into account. The central notion is “fixed-parameter tractability” which refers to solvability in polynomial time for each fixed value of the parameter such that the order of the polynomial time bound is independent of the parameter. This chapter presents main concepts and recent results on the parameterized complexity of the satisfiability problem and it outlines fundamental algorithmic ideas that arise in this context. Among the parameters considered are the size of backdoor sets with respect to various tractable base classes and the treewidth of graph representations of satisfiability instances.

Chapter 20. Software Verification

This chapter covers an application of propositional satisfiability to program analysis. We focus on the discovery of programming flaws in low-level programs, such as embedded software. The loops in the program are unwound together with a property to form a formula, which is then converted into CNF. The method supports low-level programming constructs such as bit-wise operators or pointer arithmetic.

Chapter 22. Connections to Statistical Physics

This chapter surveys a part of the intense research activity that has been devoted by theoretical physicists to the study of randomly generated k-SAT instances. It can be at first sight surprising that there is a connection between physics and computer science. However low-temperature statistical mechanics concerns precisely the behaviour of the low-lying configurations of an energy landscape, in other words the optimization of a cost function. Moreover the ensemble of random k-SAT instances exhibit phase transitions, a phenomenon mostly studied in physics (think for instance at the transition between liquid and gaseous water). Besides the introduction of general concepts of statistical mechanics and their translations in computer science language, the chapter presents results on the location of the satisfiability transition, the detailed picture of the satisfiable regime and the various phase transitions it undergoes, and algorithmic issues for random k-SAT instances.

Chapter 25. Model Counting

Model counting, or counting the number of solutions of a propositional formula, generalizes SAT and is the canonical #P-complete problem. Surprisingly, model counting is hard even for some polynomial-time solvable cases like 2-SAT and Horn-SAT. Efficient algorithms for this problem will have a significant impact on many application areas that are inherently beyond SAT, such as bounded-length adversarial and contingency planning, and, perhaps most importantly, general probabilistic inference. Model counting can be solved, in principle and to an extent in practice, by extending the two most successful frameworks for SAT algorithms, namely, DPLL and local search. However, scalability and accuracy pose a substantial challenge. As a result, several new ideas have been introduced in the last few years that go beyond the techniques usually employed in most SAT solvers. These include division into components, caching, compilation into normal forms, exploitation of solution sampling methods, and certain randomized streamlining techniques using special constraints. This chapter discusses these techniques, exploring both exact methods as well as fast estimation approaches, including those that provide probabilistic or statistical guarantees on the quality of the reported lower or upper bound on the model count.