Single Source Shortest

Path(SSSP) Dijkstra’s Algorithm

Week-11, Lecture-02

Course Code: CSE221 Course Teacher: Tanzina Afroz Rimi

Course Title: Algorithms Designation: Lecturer
Program: B.Sc. in CSE Email: [email protected]
 Shortest Path Problems
• What is shortest path ?
▪ shortest length between two vertices for an unweighted
graph:
▪ smallest cost between two vertices for a weighted graph:

B 210 B

A A
450
60 190

C unweighted C weighted
graph graph
200 130
D D
E E
 Shortest Path Problems
• How can we find the shortest route between two points
on a map?
• Model the problem as a graph problem:
• Road map is a weighted graph:
vertices = cities
edges = road segments between cities
edge weights = road distances
• Goal: find a shortest path between two vertices (cities)

3
 Shortest Path Problems
• Input: t x
6
• Directed graph G = (V, E) 3 9
3
4
• Weight function w : E → R 2 1
s 0
2 7
• Weight of path p = 〈v0, v1, . . . , vk〉 5 3
1
5
6 1
y z

• Shortest-path weight from u to v:

δ(u, v) = min w(p) : u pv if there exists a path from u to v

∞ otherwise

• Shortest path u to v is any path p such that w(p) = δ(u, v)

4
 Variants of Shortest Paths
• Single-source shortest path
• G = (V, E) ⇒ find a shortest path from a given source vertex s to each vertex v ∈ V
• Single-destination shortest path
• Find a shortest path to a given destination vertex t from each vertex v
• Reverse the direction of each edge ⇒ single-source
• Single-pair shortest path
• Find a shortest path from u to v for given vertices u and v
• Solve the single-source problem
• All-pairs shortest-paths
• Find a shortest path from u to v for every pair of vertices u and v

5
 Shortest-Path Representation
For each vertex v ∈ V:
t x
• d[v] = δ(s, v): a shortest-path estimate 3
6
9
• Initially, d[v]=∞ 3
4
2 1
• Reduces as algorithms progress s 0
2 7
3
• π[v] = predecessor of v on a shortest path 5
1
5
from s y
6 1
z
• If no predecessor, π[v] = NIL
• π induces a tree—shortest-path tree
• Shortest paths & shortest path trees are not
unique

6
 Initialization
Alg.: INITIALIZE-SINGLE-SOURCE(V, s)
1. for each v ∈ V
2. do d[v] ← ∞
3. π[v] ← NIL
4. d[s] ← 0

• All the shortest-paths algorithms start with INITIALIZE-SINGLE-SOURCE

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 Dijkstra’s Algorithm
• Single-source shortest path problem:
• No negative-weight edges: w(u, v) > 0 ∀ (u, v) ∈ E

• Maintains two sets of vertices:

• S = vertices whose final shortest-path weights have already been determined
• Q = vertices in V – S: min-priority queue
• Keys in Q are estimates of shortest-path weights (d[v])

• Repeatedly select a vertex u ∈ V – S, with the minimum

shortest-path estimate d[v]
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 Dijkstra (G, w, s)
t 1 x
1. INITIALIZE-SINGLE-SOURCE(V, s) ∞ ∞
10 9
2. S← ∅ 2 3 4 6
s 0
3. Q ← V[G] 5 7
∞ ∞
4. while Q ≠ ∅ y
2
z
t x
5. do u ← EXTRACT-MIN(Q) 1
1
∞ ∞
0
6. S ← S ∪ {u} 10 9
2 3 4 6
s 0
7. for each vertex v ∈ Adj[u] 5 7

8. do RELAX(u, v, w) ∞
5 2
∞
y z

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Example t x t x
1 1
1 1 11
8 ∞ 8
0 4 43
10 9 10 9
2 3 4 6 2 3 4 6
s 0 s 0
5 7 5 7
5 7
∞ 5 7
2 2
y z y z

t x t 1 x
1
1 8 9
8 9
9
3 10 9
10
2 4 2 3 4 6
s 0 3 6 s 0

7 5 7
5
5 7 5 7
2 2
y z y z
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 Dijkstra’s Pseudo Code
• Graph G, weight function w, root s

relaxing
edges
 Dijkstra (G, w, s)
1. INITIALIZE-SINGLE-SOURCE(V, s) Θ(V)
2. S← ∅
3. Q ← V[G] O(V) build min-heap
4. while Q ≠ ∅ Executed O(V) times
5. do u ← EXTRACT-MIN(Q) O(lgV)
6. S ← S ∪ {u}
7. for each vertex v ∈ Adj[u]
8. do RELAX(u, v, w) O(E) times; O(lgV)
Running time: O(VlgV + ElgV) = O(ElgV)
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 Dijkstra’s Running Time
• Extract-Min executed |V| time
• Decrease-Key executed |E| time
• Time = |V| TExtract-Min + |E| TDecrease-Key
• T depends on different Q implementations

Q T(Extract T(Decrease-K Total

-Min) ey)
array Ο(V) Ο(1) Ο(V 2)
binary heap Ο(lg V) Ο(lg V) Ο(E lg V)
Fibonacci heap Ο(lg V) Ο(1) (amort.) Ο(V lgV + E)
 Textbooks & Web References
• Text Book (Chapter 24)
• www.geeksforgeeks.org
 Thank you
&
Any question?