WEEKS 9 and 10
Graphs II
Unweighted Shortest Paths, Dijkstra’s Algorithm
Graphs with negative costs, Acyclic Graphs
CE222 – Data Structures & Algorithms II
Chapter 9.3
(based on the book by M. A. Weiss, Data Structures and Algorithm Analysis in C++, 3rd edition, 2006)
Shortest-Path Algorithms
• The input is a weighted graph: associated with
each edge (vi, vj) is a cost ci,j.
• The cost of a path v1v2...vN is ∑ci,i+1 for i in
[1..N-1] weighted path length
• The unweighted path length is merely the
number of edges on the path, namely, N-1.
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Shortest-Path Algorithms
Single-Source Shortest-Path Problem:
Given as input a weighted graph G=(V, E), and
a distinguished vertex, s, find the shortest
weighted path from s to every other vertex in
G.
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Negative Cost Cycles
• In the graph to the left, the shortest path from v1 to v6 has a
cost of 6 and the path itself is v1v4v7v6. The shortest
unweighted path has 2 edges.
• In the graph to the right, we have a negative cost. The path
from v5 to v4 has cost 1, but a shorter path exists by following
the loop v5v4v2v5v4 which has cost -5. This path is still not the
shortest, because we could stay in the loop arbitrarily long.
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Shortest Path Length: Problems
We will examine 4 algorithms to solve four versions of
the problem
1. Unweighted shortest path O(|E|+|V|)
2. Weighted shortest path without negative edges
O(|E|log|V|) using queues
3. Weighted shortest path with negative edges
O(|E| . |V|)
4. Weighted shortest path of acyclic graphs linear time
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Unweighted Shortest Paths
• Using some vertex, s, which is an input parameter,
find the shortest path from s to all other vertices in
an unweighted graph. Assume s=v3.
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Unweighted Shortest Paths
• Algorithm: find vertices that are at distance 1,
2, ... N-1 by processing vertices in layers
(breadth-first search)
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Unweighted Shortest Paths
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Unweighted Shortest Paths-Implementation
For each vertex v
1. The distance from s in the entry dv
2. The bookkeeping variable (path) which
will allow us to print the actual path pv
3. A boolean variable to check is the vertex
is processed or not known class Vertex {
List adj;
bool known;
int dist;
Vertex path; }
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Unweighted Shortest Paths
• Complexity O(|V|2)
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Unweighted Shortest Paths - Improvement
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Unweighted Shortest Paths - Improvement
• At any point in time there
are only two types of
unknown vertices that
have dv≠∞. Some have dv =
currDist and the rest have
dv = currDist +1.
• We can make use of a
queue data structure.
• O(|E|+|V|)
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Weighted Shortest Path Dijkstra’s
Algorithm
• With weighted shortest path,distance dv is tentative.
It turns out to be the shortest path length from s to v
using only known vertices as intermediates.
• Greedy algorithm: proceeds in stages doing the best
at each stage.
• Dijkstra’s algorithm selects a vertex v with smallest dv
among all unknown vertices and declares it known.
Remainder of the stage consists of updating the
values dw for all edges (v, w).
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Dijkstra’s Algorithm - Example
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Dijkstra’s Algorithm - Example
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• A proof by contradiction will show that this
algorithm always works as long as no edge has
a negative cost.
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Dijkstra’s Algorithm Example – Stages I
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Dijkstra’s Algorithm Example – Stages II
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Dijkstra’s Algorithm - Pseudocode
• If the vertices are
sequentially scanned to
find minimum dv, each
phase will take O(|V|) to
find the minimum, thus
O(|V|2) over the course of
the algorithm.
• The time for updates is
constant and at most one
update per edge for a total
of O(|E|).
• Therefore the total time
spent is O(|V|2+|E|).
• If the graph is dense,
OPTIMAL.
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Dijkstra’s Algorithm-What if the graph is
sparse?
• If the graph is sparse |E|=θ(|V|), algorithm is too
slow. The distances of vertices need to be kept in a
priority queue.
• Selection of vertex with minimum distance via
deleteMin, and updates via decreaseKey operation.
Hence; O(|E|log|V|+|V|log|V|)
• find operations are not supported, so you need to be
able to maintain locations of di in the heap and
update them as they change.
• Alternative: insert w and dw with every update.
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Graphs with negative edge costs
• Dijkstra’s algorithm does not work with
negative edge costs. Once a vertex u is known,
it is possible that from some other unknown
vertex v, there is a path back to u that is very
negative.
• Algorithm: A combination of weighted and
unweighted algorithms. Forget about the
concept of known vertices.
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Graphs with negative edge costs - I
• O(|E|*|V|)
• Each vertex can dequeue at
most O(|V|) times.
(Why? Algorithm computes
shortest paths with at most 0, 1,
..., |V|-1 edges in this order).
Hence, the result!
• If negative cost cycles, then each
vertex should be checked to
have been dequeued at most
|V| times.
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Acyclic Graphs
• If the graph is known to be acyclic, the order
in which vertices are declared known, can be
set to be the topological order.
• Running time = O(|V|+|E|)
• This selection rule works because when a
vertex is selected, its distance can no longer
be lowered, since by topological ordering rule
it has no incoming edges emanating from
unknown nodes.
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Acyclic Graphs - Example
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Homework Assignments
• 9.5, 9.7, 9.10, 9.40, 9.42, 9.44, 9.46, 9.47, 9.52
• You are requested to study and solve the
exercises. Note that these are for you to
practice only. You are not to deliver the results
to me.
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