ord graph algorithms dfw - parasol laboratoryamato/courses/221-prev/...reminder: weighted graphs •...
TRANSCRIPT
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Graph Algorithms shortest paths, minimum spanning trees, etc.
Nancy Amato
Parasol Lab, Dept. CSE, Texas A&M University
Acknowledgement: These slides are adapted from slides provided with Data Structures and Algorithms in C++, Goodrich, Tamassia and Mount (Wiley 2004)
ORD
DFW
SFO
LAX
http://parasol.tamu.edu
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Graphs 2
Minimum Spanning Trees
JFK
BOS
MIA
ORD
LAX DFW
SFO BWI
PVD
867 2704
187
1258
849
144 740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Outline and Reading
• Minimum Spanning Trees (§13.6) • Definitions
• A crucial fact
• The Prim-Jarnik Algorithm (§13.6.2)
• Kruskal's Algorithm (§13.6.1)
3 Graphs
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Reminder: Weighted Graphs
• In a weighted graph, each edge has an associated numerical value, called the weight of the edge
• Edge weights may represent, distances, costs, etc.
• Example:
• In a flight route graph, the weight of an edge represents the distance in miles between the endpoint airports
4 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Minimum Spanning Tree
• Spanning subgraph
• Subgraph of a graph G containing all the vertices of G
• Spanning tree
• Spanning subgraph that is itself a (free) tree
• Minimum spanning tree (MST)
• Spanning tree of a weighted graph with minimum total edge weight
• Applications
• Communications networks
• Transportation networks
5 Graphs
ORD
PIT
ATL
STL
DEN
DFW
DCA
10 1
9
8
6
3
2 5
7
4
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Exercise: MST
Show an MSF of the following graph.
6 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Cycle Property
Cycle Property:
• Let T be a minimum spanning tree of a weighted graph G
• Let e be an edge of G that is not in T and C let be the cycle formed by e with T
• For every edge f of C, weight(f) weight(e)
Proof:
• By contradiction
• If weight(f) > weight(e) we can get a spanning tree of smaller weight by replacing e with f
7 Graphs
8
4
2 3
6
7
7
9
8
e
C
f
8
4
2 3
6
7
7
9
8
C
e
f
Replacing f with e yields
a better spanning tree
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Partition Property
Partition Property:
• Consider a partition of the vertices of G into subsets U and V
• Let e be an edge of minimum weight across the partition
• There is a minimum spanning tree of G containing edge e
Proof:
• Let T be an MST of G
• If T does not contain e, consider the cycle C formed by e with T and let f be an edge of C across the partition
• By the cycle property, weight(f) weight(e)
• Thus, weight(f) = weight(e)
• We obtain another MST by replacing f with e 8 Graphs
U V
7
4
2 8
5
7
3
9
8 e
f
7
4
2 8
5
7
3
9
8 e
f
Replacing f with e yields
another MST
U V
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Prim-Jarnik’s Algorithm
• (Similar to Dijkstra’s algorithm, for a connected graph)
• We pick an arbitrary vertex s and we grow the MST as a cloud of vertices, starting from s
• We store with each vertex v a label d(v) = the smallest weight of an edge connecting v to a vertex in the cloud
9 Graphs
• At each step: • We add to the cloud the vertex u outside the cloud with the smallest distance label
• We update the labels of the vertices adjacent to u
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Prim-Jarnik’s Algorithm (cont.)
• A priority queue stores the vertices outside the cloud
• Key: distance
• Element: vertex
• Locator-based methods
• insert(k,e) returns a locator
• replaceKey(l,k) changes the key of an item
• We store three labels with each vertex:
• Distance
• Parent edge in MST
• Locator in priority queue
10 Graphs
Algorithm PrimJarnikMST(G) Q new heap-based priority queue s a vertex of G for all v G.vertices() if v = s setDistance(v, 0) else setDistance(v, ) setParent(v, ) l Q.insert(getDistance(v), v)
setLocator(v,l) while Q.isEmpty() u Q.removeMin() for all e G.incidentEdges(u) z G.opposite(u,e) r weight(e) if r < getDistance(z) setDistance(z,r) setParent(z,e) Q.replaceKey(getLocator(z),r)
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Example
11 Graphs
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 7
2
8
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 7
2
5
7
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 7
2
5
7
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 7
2
5 4
7
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Example (contd.)
12 Graphs
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 3
2
5 4
7
B
D
C
A
F
E
7
4
2 8
5
7
3
9
8
0 3
2
5 4
7
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Exercise: Prim’s MST alg
• Show how Prim’s MST algorithm works on the following graph, assuming you start with SFO, I.e., s=SFO.
• Show how the MST evolves in each iteration (a separate figure for each iteration).
13 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Analysis
• Graph operations
• Method incidentEdges is called once for each vertex
• Label operations
• We set/get the distance, parent and locator labels of vertex z O(deg(z)) times
• Setting/getting a label takes O(1) time
• Priority queue operations
• Each vertex is inserted once into and removed once from the priority queue, where each insertion or removal takes O(log n) time
• The key of a vertex w in the priority queue is modified at most deg(w) times, where each key change takes O(log n) time
• Prim-Jarnik’s algorithm runs in O((n + m) log n) time provided the graph is represented by the adjacency list structure
• Recall that Sv deg(v) = 2m
• The running time is O(m log n) since the graph is connected 14
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15 Graphs
Kruskal’s Algorithm • A priority queue stores
the edges outside the cloud • Key: weight
• Element: edge
• At the end of the algorithm • We are left with one
cloud that encompasses the MST
• A tree T which is our MST
Algorithm KruskalMST(G) for each vertex V in G do define a Cloud(v) of {v} let Q be a priority queue. Insert all edges into Q using their weights as the key T while T has fewer than n-1 edges edge e = T.removeMin() Let u, v be the endpoints of e if Cloud(v) Cloud(u) then Add edge e to T Merge Cloud(v) and Cloud(u) return T
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Data Structure for Kruskal Algortihm
• The algorithm maintains a forest of trees
• An edge is accepted it if connects distinct trees
• We need a data structure that maintains a partition, i.e., a collection of disjoint sets, with the operations: • find(u): return the set storing u
• union(u,v): replace the sets storing u and v with their union
Graphs 16
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Representation of a Partition
• Each set is stored in a sequence
• Each element has a reference back to the set
• operation find(u) takes O(1) time, and returns the set of which u is a member.
• in operation union(u,v), we move the elements of the smaller set to the sequence of the larger set and update their references
• the time for operation union(u,v) is min(nu,nv), where nu and nv are the sizes of the sets storing u and v
• Whenever an element is processed, it goes into a set of size at least double, hence each element is processed at most log n times
Graphs 17
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Partition-Based Implementation
• A partition-based version of Kruskal’s Algorithm performs cloud merges as unions and tests as finds.
Graphs 18
Algorithm Kruskal(G):
Input: A weighted graph G.
Output: An MST T for G.
Let P be a partition of the vertices of G, where each vertex forms a separate set.
Let Q be a priority queue storing the edges of G, sorted by their weights
Let T be an initially-empty tree
while Q is not empty do
(u,v) Q.removeMinElement()
if P.find(u) != P.find(v) then
Add (u,v) to T
P.union(u,v)
return T
Running time: O((n+m) log n)
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Graphs 19
Kruskal Example
JFK
BOS
MIA
ORD
LAX DFW
SFO BWI
PVD
867 2704
187
1258
849
144 740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
20 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
21 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
22 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
23 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 24: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/24.jpg)
Example
24 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
25 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 26: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/26.jpg)
Example
26 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 27: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/27.jpg)
Example
27 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 28: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/28.jpg)
Example
28 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
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Example
29 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 30: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/30.jpg)
Example
30 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 31: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/31.jpg)
Example
31 Graphs
JFK
BOS
MIA
ORD
LAXDFW
SFOBWI
PVD
8672704
187
1258
849
144740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 32: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/32.jpg)
Graphs 32
Example
JFK
BOS
MIA
ORD
LAX DFW
SFO BWI
PVD
867 2704
187
1258
849
144 740
1391
184
946
1090
1121
2342
1846 621
802
1464
1235
337
![Page 33: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/33.jpg)
Exercise: Kruskal’s MST alg
• Show how Kruskal’s MST algorithm works on the following graph.
• Show how the MST evolves in each iteration (a separate figure for each iteration).
33 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
![Page 34: ORD Graph Algorithms DFW - Parasol Laboratoryamato/Courses/221-prev/...Reminder: Weighted Graphs • In a weighted graph, each edge has an associated numerical value, called the weight](https://reader033.vdocuments.us/reader033/viewer/2022042211/5eb0d62e68c2dd2b420e9524/html5/thumbnails/34.jpg)
Shortest Paths
38 Graphs
C B
A
E
D
F
0
3 2 8
5 8
4 8
7 1
2 5
2
3 9
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Outline and Reading
• Weighted graphs (§13.5.1) • Shortest path problem
• Shortest path properties
• Dijkstra’s algorithm (§13.5.2)
• Algorithm
• Edge relaxation
• The Bellman-Ford algorithm
• Shortest paths in DAGs
• All-pairs shortest paths
39 Graphs
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Weighted Graphs
• In a weighted graph, each edge has an associated numerical value, called the weight of the edge
• Edge weights may represent, distances, costs, etc.
• Example:
• In a flight route graph, the weight of an edge represents the distance in miles between the endpoint airports
40 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Shortest Path Problem
• Given a weighted graph and two vertices u and v, we want to find a path of minimum total weight between u and v.
• Length of a path is the sum of the weights of its edges.
• Example:
• Shortest path between Providence and Honolulu
• Applications
• Internet packet routing
• Flight reservations
• Driving directions
41 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Shortest Path Problem
• If there is no path from v to u, we denote the distance between them by d(v, u)=+
• What if there is a negative-weight cycle in the graph?
42 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Shortest Path Properties
Property 1:
A subpath of a shortest path is itself a shortest path
Property 2:
There is a tree of shortest paths from a start vertex to all the other vertices
Example:
Tree of shortest paths from Providence
43 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Dijkstra’s Algorithm
• The distance of a vertex v from a vertex s is the length of a shortest path between s and v
• Dijkstra’s algorithm computes the distances of all the vertices from a given start vertex s
(single-source shortest paths)
• Assumptions: • the graph is connected
• the edges are undirected
• the edge weights are nonnegative
• We grow a “cloud” of vertices, beginning with s and eventually covering all the vertices
• We store with each vertex v a label D[v] representing the distance of v from s in the subgraph consisting of the cloud and its adjacent vertices
• The label D[v] is initialized to positive infinity
• At each step • We add to the cloud the vertex u
outside the cloud with the smallest distance label, D[v]
• We update the labels of the vertices adjacent to u (i.e. edge relaxation)
44 Graphs
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Edge Relaxation
• Consider an edge e = (u,z) such that
• u is the vertex most recently added to the cloud
• z is not in the cloud
• The relaxation of edge e updates distance D[z] as follows:
D[z]min{D[z],D[u]+weight(e)}
45 Graphs
D[z] = 75
D[u] = 50
z s u
D[z] = 60
D[u] = 50
z s u
e
e
y
y
D[y] = 20
D[y] = 20
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Example
46 Graphs
C B
A
E
D
F
0
4 2 8
4 8
7 1
2 5
2
3 9
C B
A
E
D
F
0
3 2 8
5 11
4 8
7 1
2 5
2
3 9
C B
A
E
D
F
0
3 2 8
5 8
4 8
7 1
2 5
2
3 9
C B
A
E
D
F
0
3 2 7
5 8
4 8
7 1
2 5
2
3 9
1. Pull in one of the vertices with red labels
2. The relaxation of edges updates the labels of LARGER font size
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Example (cont.)
47 Graphs
C B
A
E
D
F
0
3 2 7
5 8
4 8
7 1
2 5
2
3 9
C B
A
E
D
F
0
3 2 7
5 8
4 8
7 1
2 5
2
3 9
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Exercise: Dijkstra’s alg
• Show how Dijkstra’s algorithm works on the following graph, assuming you start with SFO, I.e., s=SFO. • Show how the labels are updated in each iteration (a separate
figure for each iteration).
48 Graphs
ORD PVD
MIA DFW
SFO
LAX
LGA
HNL
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Dijkstra’s Algorithm
• A priority queue stores the vertices outside the cloud
• Key: distance
• Element: vertex
• Locator-based methods
• insert(k,e) returns a locator
• replaceKey(l,k) changes the key of an item
• We store two labels with each vertex:
• distance (D[v] label)
• locator in priority queue
49 Graphs
Algorithm DijkstraDistances(G, s)
Q new heap-based priority queue
for all v G.vertices()
if v = s setDistance(v, 0)
else setDistance(v, )
l Q.insert(getDistance(v), v)
setLocator(v,l)
while Q.isEmpty()
{ pull a new vertex u into the cloud }
u Q.removeMin()
for all e G.incidentEdges(u)
{ relax edge e }
z G.opposite(u,e)
r getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
Q.replaceKey(getLocator(z),r)
O(n) iter’s
O(logn)
O(logn)
∑v deg(u) iter’s
O(n) iter’s
O(logn)
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Analysis • Graph operations
• Method incidentEdges is called once for each vertex
• Label operations • We set/get the distance and locator labels of vertex z O(deg(z)) times
• Setting/getting a label takes O(1) time
• Priority queue operations • Each vertex is inserted once into and removed once from the priority
queue, where each insertion or removal takes O(log n) time
• The key of a vertex in the priority queue is modified at most deg(w) times, where each key change takes O(log n) time
• Dijkstra’s algorithm runs in O((n + m) log n) time provided the graph is represented by the adjacency list structure
• Recall that Sv deg(v) = 2m
• The running time can also be expressed as O(m log n) since the graph is connected
• The running time can be expressed as a function of n, O(n2 log n)
50 Graphs
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Exercise: Analysis
51 Graphs
Algorithm DijkstraDistances(G, s)
Q new unsorted-sequence-based priority queue
for all v G.vertices()
if v = s setDistance(v, 0)
else setDistance(v, )
l Q.insert(getDistance(v), v)
setLocator(v,l)
while Q.isEmpty()
{ pull a new vertex u into the cloud }
u Q.removeMin()
for all e G.incidentEdges(u) //use adjacency list
{ relax edge e }
z G.opposite(u,e)
r getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
Q.replaceKey(getLocator(z),r) O(1)
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Extension
• Using the template method pattern, we can extend Dijkstra’s algorithm to return a tree of shortest paths from the start vertex to all other vertices
• We store with each vertex a third label:
• parent edge in the shortest path tree
• In the edge relaxation step, we update the parent label
52 Graphs
Algorithm DijkstraShortestPathsTree(G, s)
…
for all v G.vertices()
…
setParent(v, )
…
for all e G.incidentEdges(u)
{ relax edge e }
z G.opposite(u,e)
r getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
setParent(z,e)
Q.replaceKey(getLocator(z),r)
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Why Dijkstra’s Algorithm Works
• Dijkstra’s algorithm is based on the greedy method. It adds vertices by increasing distance.
53 Graphs
Suppose it didn’t find all shortest distances. Let F be the first wrong vertex the algorithm processed.
When the previous node, D, on the true shortest path was considered, its distance was correct.
But the edge (D,F) was relaxed at that time!
Thus, so long as D[F]>D[D], F’s distance cannot be wrong. That is, there is no wrong vertex.
C B
s
E
D
F
0
3 2 7
5 8
4 8
7 1
2 5
2
3 9
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Why It Doesn’t Work for Negative-Weight Edges
54 Graphs
Dijkstra’s algorithm is based on the greedy method. It adds vertices by increasing distance.
If a node with a negative incident edge were to be added late to the cloud, it could mess up distances for vertices already in the cloud.
C’s true distance is 1,
but it is already in the cloud
with D[C]=2!
C B
A
E
D
F
0
4 2 8
4 8
7 -3
2 5
2
3 9
C B
A
E
D
F
0
0 2 8
5 11
4 8
7 -3
2 5
2
3 9
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Bellman-Ford Algorithm
• Works even with negative-weight edges
• Must assume directed edges (for otherwise we would have negative-weight cycles)
• Iteration i finds all shortest paths that use i edges.
• Running time: O(nm).
• Can be extended to detect a negative-weight cycle if it exists
• How?
55 Graphs
Algorithm BellmanFord(G, s)
for all v G.vertices()
if v = s
setDistance(v, 0)
else
setDistance(v, )
for i 1 to n-1 do
for each e G.edges()
{ relax edge e }
u G.origin(e)
z G.opposite(u,e)
r getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
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Bellman-Ford Example
56 Graphs
-2
0
4 8
7 1
-2 5
-2
3 9
0
4 8
7 1
-2 5
3 9
Nodes are labeled with their d(v) values
-2
-2 8
0
4
4 8
7 1
-2 5
3 9
8 -2 4
-1 5
6 1
9
-2 5
0
1
-1
9
4 8
7 1
-2 5
-2
3 9 4
First round
Second round
Third round
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Exercise: Bellman-Ford’s alg
• Show how Bellman-Ford’s algorithm works on the following graph, assuming you start with the top node • Show how the labels are updated in each iteration (a separate
figure for each iteration).
57 Graphs
0
4 8
7 1
-5 5
-2
3 9
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DAG-based Algorithm
• Works even with negative-weight edges
• Uses topological order
• Is much faster than Dijkstra’s algorithm
• Running time: O(n+m).
58 Graphs
Algorithm DagDistances(G, s)
for all v G.vertices()
if v = s
setDistance(v, 0)
else
setDistance(v, )
Perform a topological sort of the vertices
for u 1 to n do {in topological order}
for each e G.outEdges(u)
{ relax edge e }
z G.opposite(u,e)
r getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
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DAG Example
59 Graphs
-2
0
4 8
7 1
-5 5
-2
3 9
0
4 8
7 1
-5 5
3 9
Nodes are labeled with their d(v) values
-2
-2 8
0
4
4 8
7 1
-5 5
3 9
-2 4
-1
1 7
-2 5
0
1
-1
7
4 8
7 1
-5 5
-2
3 9 4
1
2 4 3
6 5
1
2 4 3
6 5
8
1
2 4 3
6 5
1
2 4 3
6 5
5
0
(two steps)
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Exercize: DAG-based Alg
• Show how DAG-based algorithm works on the following graph, assuming you start with the second rightmost node • Show how the labels are updated in each iteration (a separate
figure for each iteration).
60 Graphs
∞ 0 ∞ ∞ ∞ ∞ 5 2 7 -1 -2
6 1
3 4
2
1
2
3
4
5
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Summary of Shortest-Path Algs
• Breadth-First-Search
• Dijkstra’s algorithm (§13.5.2) • Algorithm
• Edge relaxation
• The Bellman-Ford algorithm
• Shortest paths in DAGs
61 Graphs
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All-Pairs Shortest Paths
• Find the distance between every pair of vertices in a weighted directed graph G.
• We can make n calls to Dijkstra’s algorithm (if no negative edges), which takes O(nmlog n) time.
• Likewise, n calls to Bellman-Ford would take O(n2m) time.
• We can achieve O(n3) time using dynamic programming (similar to the Floyd-Warshall algorithm).
62 Graphs
Algorithm AllPair(G) {assumes vertices 1,…,n}
for all vertex pairs (i,j)
if i = j
D0[i,i] 0
else if (i,j) is an edge in G
D0[i,j] weight of edge (i,j)
else
D0[i,j] +
for k 1 to n do
for i 1 to n do
for j 1 to n do
Dk[i,j] min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
return Dn
k
j
i
Uses only vertices
numbered 1,…,k-1 Uses only vertices
numbered 1,…,k-1
Uses only vertices numbered 1,…,k
(compute weight of this edge)