Data Structure

Depth/Breadth-First Search

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 What is a graph?

56
Tokyo Seattle
Seoul 128

16 181 New York

30 140

L.A.
Sydney
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 Graphs
• graph: A data structure containing:
 a set of vertices V, (sometimes called nodes) a b
 a set of edges E, where an edge
represents a connection between 2 vertices.
• Graph G = (V, E) c d
• an edge is a pair (v, w) where v, w are in V

• the graph at right:

 V = {a, b, c, d}
 E = {(a, c), (b, c), (b, d), (c, d)}

• degree: number of edges touching a given vertex.

 at right: a=1, b=2, c=3, d=2
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 Graph examples
• For each, what are the vertices and what are the edges?
 Web pages with links
 Methods in a program that call each other
 Road maps (e.g., Google maps)
 Airline routes
 Facebook friends
 Course pre-requisites
 Family trees
 Paths through a maze

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 Paths
• path: A path from vertex a to b is a sequence of edges that can be
followed starting from a to reach b.
 can be represented as vertices visited, or edges taken
 example, one path from V to Z: {b, h} or {V, X, Z}
 What are two paths from U to Y?
V
a b
• path length: Number of vertices d
U X Z
or edges contained in the path. h
c e
W g
• neighbor or adjacent: Two vertices
connected directly by an edge. f
Y
 example: V and X

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 Reachability, connectedness
• reachable: Vertex a is reachable from b V
a b
if a path exists from a to b.
d
U X Z
h
• connected: A graph is connected if every c e
vertex is reachable from any other. W g
 Is the graph at top right connected?
f
Y
• strongly connected: When every vertex
has an edge to every other vertex.
a b

a b d
c
e
c d
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 Loops and cycles
• cycle: A path that begins and ends at the same node.
 example: {b, g, f, c, a} or {V, X, Y, W, U, V}.
 example: {c, d, a} or {U, W, V, U}.

 acyclic graph: One that does

not contain any cycles. V
a b

• loop: An edge directly from U d X Z

h
a node to itself. e
c
 Many graphs don't allow loops. W g

f
Y

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 Weighted graphs
• weight: Cost associated with a given edge.
 Some graphs have weighted edges, and some are unweighted.
 Edges in an unweighted graph can be thought of as having equal
weight (e.g. all 0, or all 1, etc.)
 Most graphs do not allow negative weights.

• example: graph of airline flights, weighted by miles between cities:

849 PVD
1843 ORD 2
SFO 14

43 802 LGA
7
337

1 7
2555 138 10
HNL 1233 9 9
LAX 1120
DFW
MIA

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 Directed graphs
• directed graph ("digraph"): One where edges are one-way
connections between vertices.
 If graph is directed, a vertex has a separate in/out degree.
 A digraph can be weighted or unweighted.
 Is the graph below connected? Why or why not?

a b

c d e

f g

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 Digraph example
• Vertices = UW CSE courses (incomplete list)
• Edge (a, b) = a is a prerequisite for b
120 131 142 140 450

143 154

331 311
341 351 373 374
332
403 312 344 333
352
410 413 414
431 446 444 421 440
451
415 417

452
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 Linked Lists, Trees, Graphs
• A binary tree is a graph with some restrictions:
 The tree is an unweighted, directed, acyclic graph (DAG).
 Each node's in-degree is at most 1, and out-degree is at most 2.
 There is exactly one path from the root to every node.

F
• A linked list is also a graph:
 Unweighted DAG.
B K
 In/out degree of at most 1 for all nodes.

A B C D A E H

G J

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 Searching for paths
• Searching for a path from one vertex to another:
 Sometimes, we just want any path (or want to know there is a path).
 Sometimes, we want to minimize path length (# of edges).
 Sometimes, we want to minimize path cost (sum of edge weights).

• What is the shortest path from MIA to SFO?

Which path has the minimum cost?
$50 PVD
$70 ORD
SFO

$2
00
$130
70
$8 0
1 LGA
$60

$
$250 $140
HNL
LAX
$120
100
DFW $110 $
$500 MIA

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 Depth-first search
• depth-first search (DFS): Finds a path between two vertices by
exploring each possible path as far as possible before backtracking.
 Often implemented recursively.
 Many graph algorithms involve visiting or marking vertices.

• Depth-first paths from a to all vertices (assuming ABC edge order):

 to b: {a, b}
 to c: {a, b, e, f, c} a b c
 to d: {a, d}
 to e: {a, b, e} d e f
 to f: {a, b, e, f}
 to g: {a, d, g} g h
 to h: {a, d, g, h}
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 DFS observations
• discovery: DFS is guaranteed to a b c
find a path if one exists.
d e f
• retrieval: It is easy to retrieve exactly
g h
what the path is (the sequence of
edges taken) if we find it

• optimality: not optimal. DFS is guaranteed to find a path, not

necessarily the best/shortest path
 Example: dfs(a, f) returns {a, d, c, f} rather than {a, d, f}.

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 Breadth-first search
• breadth-first search (BFS): Finds a path between two nodes by
taking one step down all paths and then immediately backtracking.
 Often implemented by maintaining a queue of vertices to visit.

• BFS always returns the shortest path (the one with the fewest
edges) between the start and the end vertices.
 to b: {a, b}
 to c: {a, e, f, c} a b c
 to d: {a, d}
 to e: {a, e} d e f
 to f: {a, e, f}
g h
 to g: {a, d, g}
 to h: {a, d, h}

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 BFS observations
• optimality: a b c
 always finds the shortest path (fewest edges).
d e f
 in unweighted graphs, finds optimal cost path.
 In weighted graphs, not always optimal cost. g h

• retrieval: harder to reconstruct the actual sequence of vertices or

edges in the path once you find it
 conceptually, BFS is exploring many possible paths in parallel, so it's
not easy to store a path array/list in progress
 solution: We can keep track of the path by storing predecessors for
each vertex (each vertex can store a reference to a previous vertex).

• DFS uses less memory than BFS, easier to reconstruct the path once
found; but DFS does not always find shortest path. BFS does.
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 DFS, BFS runtime
• What is the expected runtime of DFS and BFS, in terms of the
number of vertices V and the number of edges E ?

• Answer: O(|V| + |E|)

 where |V| = number of vertices, |E| = number of edges
 Must potentially visit every node and/or examine every edge once.

 why not O(|V| * |E|) ?

• What is the space complexity of each algorithm?

 (How much memory does each algorithm require?)

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Practice

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Practice

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