elementary graph algorithms clrs chapter 22. graph a graph is a structure that consists of a set of...
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Elementary Graph Algorithms
CLRS Chapter 22
Graph
• A graph is a structure that consists of a set of vertices and a set of edges between pairs of vertices
Graph
• A graph is a pair (V, E), where– V is a set of vertices– E is a set of pairs of vertices, called edges
• Example:– V = {A, B, C, D, E}– E = {(A,B), (A,D), (C,E), (D, E)}
Directed graph (digraph)
• Directed edge– ordered pair of vertices (u,v)
• Undirected edge– unordered pair of vertices (u,v)
• A graph with directed edges is called a directed graph or digraph
• A graph with undirected edges is an undirected graph or simply a graph
Weighted Graphs
• The edges in a graph may have values associated with them known as their weights
• A graph with weighted edges is known as a weighted graph
Terminology
• End vertices (or endpoints) of an edge– U and V are the endpoints of
a• Edges incident on a vertex
– a, d, and b are incident on V• Adjacent vertices
– U and V are adjacent• Degree of a vertex
– X has degree 5 • Parallel edges
– h and i are parallel edges• Self-loop
– j is a self-loop
XU
V
W
Z
Y
a
c
b
e
d
f
g
h
i
j
P1
Terminology (cont.)
• A path is a sequence of vertices in which each successive vertex is adjacent to its predecessor
• In a simple path, the vertices and edges are distinct except that the first and last vertex may be the same
• Examples
– P1=(V,X,Z) is a simple path
– P2=(U,W,X,Y,W,V) is a path that is not simple
XU
V
W
Z
Y
a
c
b
e
d
f
g
hP2
Terminology (cont.)
• A cycle is a simple path in which only the first and final vertices are the same
• Simple cycle– cycle such that all its
vertices and edges are distinct
• Examples
– C1=(V,X,Y,W,U,V) is a simple cycle
– C2=(U,W,X,Y,W,V,U) is a cycle that is not simple
C1
XU
V
W
Z
Y
a
c
b
e
d
f
g
hC2
Subgraphs
• A subgraph S of a graph G is a graph such that – The vertices of S are a
subset of the vertices of G– The edges of S are a
subset of the edges of G• A spanning subgraph of G is a
subgraph that contains all the vertices of G
Subgraph
Spanning subgraph
Connectivity
• A graph is connected if there is a path between every pair of vertices
• A connected component of a graph G is a maximal connected subgraph of G
Connected graph
Non connected graph with two connected components
Trees and Forests
• A (free) tree is an undirected graph T such that– T is connected– T has no cycles
• A forest is an undirected graph without cycles
• The connected components of a forest are trees
Tree
Forest
DAG
• A directed acyclic graph (DAG) is a digraph that has no directed cycles
B
A
D
C
E
DAG G
Spanning Trees and Forests
• A spanning tree of a connected graph is a spanning subgraph that is a tree
• A spanning tree is not unique unless the graph is a tree
• A spanning forest of a graph is a spanning subgraph that is a forest
Graph
Spanning tree
Representation of Graphs
Two standard ways:• Adjacency List
– preferred for sparse graphs (|E| is much less than |V|^2)
– Unless otherwise specified we will assume this representation
• Adjacency Matrix– Preferred for dense graphs
Adjacency List
• An array Adj of |V| lists, one per vertex• For each vertex u in V,
– Adj[u] contains all vertices v such that there is an edge (u,v) in E (i.e. all the vertices adjacent to u)
• Space required Θ(|V|+|E|) (Following CLRS, we will use V for |V|
and E for |E|) thus Θ(V+E)
25
1
4 3
52
51 4
4
2 3 5
4 1 2
1
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25
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4 3
0 1 0 0 1
1 0 0 1 1
0 0 0 1 0
0 1 1 0 1
1 1 0 1 0
1
2
3
4
5
1 2 3 4 5
Adjacency Matrix
Graph Traversals
• For solving most problems on graphs– Need to systematically visit all the vertices and edges of a graph
• Two major traversals– Breadth-First Search (BFS)
– Depth-First Search(DFS)
BFS
• Starts at some source vertex s • Discover every vertex that is reachable from s• Also produces a BFS tree with root s and including all
reachable vertices
• Discovers vertices in increasing order of distance from s– Distance between v and s is the minimum number of edges on a
path from s to v
• i.e. discovers vertices in a series of layers
BFS : vertex colors stored in color[]
• Initially all undiscovered: white
• When first discovered: gray– They represent the frontier of vertices between discovered
and undiscovered
– Frontier vertices stored in a queue
– Visits vertices across the entire breadth of this frontier
• When processed: black
Additional info stored (some applications of BFS need this info)
• pred[u]: points to the vertex which first discovered u
• d[u]: the distance from s to u
BFS(G=(V,E),s) for each (u in V)
color[u] = whited[u] = infinitypred[u] = NIL
color[s] = grayd[s] = 0Q.enqueue(s)while (Q is not empty) do
u = Q.dequeue()for each (v in Adj[u]) do
if (color(v] == white) thencolor[v] = gray //discovered but not yet
processedd[v] = d[u] + 1pred[v] = uQ.enqueue(v) //added to the frontier
color[u] = black //processed
Analysis
• Each vertex is enqued once and dequeued once : Θ(V)
• Each adjacency list is traversed once:
• Total: Θ(V+E)
Vu
Eu )()deg(
BFS Tree
• predecessor pointers after BFS is completed define an inverted tree– Reverse edges: BFS tree rooted at s
– The edges of the BFS tree are called : tree edges
– Remaining graph edges are called: cross edges
BFS and shortest paths
• Theorem: Let G=(V,E) be a directed or undirected graph, and suppose BFS is run on G starting from vertex s. During its execution BFS discovers every vertex v in V that is reachable from s. Let δ(s,v) denote the number of edges on the shortest path form s to v. Upon termination of BFS, d[v] = δ(s,v) for all v in V.
DFS
• Start at a source vertex s• Search as far into the graph as possible and backtrack
when there is no new vertices to discover– recursive
color[u] and pred[u] as before
• color[u]– Undiscovered: white
– Discovered but not finished processing: gray
– Finished: black
• pred[u]– Pointer to the vertex that first discovered u
Time stamps,
• We store two time stamps:– d[u]: the time vertex u is first discovered (discovery time)
– f[u]: the time we finish processing vertex u (finish time)
DFS(G)
for each (u in V) do
color[u] = white
pred[u] = NIL
time = 0
for each (u in V) do
if (color[u] == white)
DFS-VISIT(u)
DFS-VISIT(u)
//vertex u is just discovered
color[u] = gray
time = time +1
d[u] = time
for each (v in Adj[u]) do
//explore neighbor v
if (color[v] == white) then
//v is discovered by u
pred[v] = u
DFS-VISIT(v)
color[u] = black // u is finished
f[u] = time = time+ 1
DFS-VISIT invoked by each vertex exactly once.
Θ(V+E)
DFS Forest
• Tree edges: inverse of pred[] pointers – Recursion tree, where the edge
(u,v) arises when processing a vertex u, we call DFS-VISIT(v)
Remaining graph edges are classified as:• Back edges: (u, v) where v is an
ancestor of u in the DFS forest (self loops are back edges)
• Forward edges: (u, v) where v is a proper descendent of u in the DFS forest
• Cross edges: (u,v) where u and v are not ancestors or descendents of one another. D
B
A
C
E
s
If DFS run on an undirected graph
• No difference between back and forward edges: all called back edges
• No cross edges: can you see why?
Parenthesis Theorem
• In any DFS of a graph G= (V,E), for any two vertices u and v, exactly one of the following three conditions holds:
– The intervals [d[u],f[u]] and [d[v],f[v]] are entirely disjoint and neither u nor v is a descendent of the other in the DFS forest
– The interval [d[u],f[u]] is contained within interval [d[v],f[v]] and u is a descendent of v in the DFS forest
– The interval [d[v],f[v]] is contained within interval [d[u],f[u]] and v is a descendent of u in the DFS forest
How can we use DFS to determine whether a graph contains any cycles?