Presentation for use with the textbook, Algorithm

Design and Applications, by M. T. Goodrich and R.

Tamassia, Wiley, 2015

Directed Graphs BOS

ORD

JFK

SFO

DFW
LAX

MIA

© 2015 Goodrich and Tamassia Directed Graphs 1

 Digraphs
 A digraph is a
graph whose E
edges are all
directed D
 Short for “directed
graph” C
 Applications B
 one-way streets
 flights A
 task scheduling

© 2015 Goodrich and Tamassia Directed Graphs 2

 E

Digraph Properties D

C
 A graph G=(V,E) such that B
 Each edge goes in one direction: A
 Edge (a,b) goes from a to b, but not b to a
 If G is simple, m < n(n - 1)
 If we keep in-edges and out-edges in
separate adjacency lists, we can perform
listing of incoming edges and outgoing
edges in time proportional to their size

© 2015 Goodrich and Tamassia Directed Graphs 3

 Digraph Application
 Scheduling: edge (a,b) means task a must
be completed before b can be started
cs21 cs22 cs46

cs51 cs53 cs52

cs161

cs131 cs141 cs121 cs171

cs151 The good life

© 2015 Goodrich and Tamassia Directed Graphs 4

 Directed DFS
 We can specialize the
traversal algorithms (DFS
and BFS) to digraphs by
E
traversing edges only along
their direction D
 In the directed DFS
algorithm, we have four C
types of edges
 discovery edges B
 back edges
 forward edges
 cross edges A
 A directed DFS starting at a
vertex s determines the
vertices reachable from s
© 2015 Goodrich and Tamassia Directed Graphs 5
 The Directed DFS
Algorithm

© 2015 Goodrich and Tamassia Directed Graphs 6

 Reachability
 DFS tree rooted at v: vertices
reachable from v via directed paths
E D

E D C

A
C F
E D
A B
C F

A B
© 2015 Goodrich and Tamassia Directed Graphs 7
 Strong Connectivity
 Each vertex can reach all other
vertices
a
g
c

d
e

b
f

© 2015 Goodrich and Tamassia Directed Graphs 8

 Strong Connectivity
Algorithm
 Pick a vertex v in G
a
 Perform a DFS from v in G G: c
g
 If there’s a w not visited, print
“no” d
e
 Let G’ be G with edges b
f
reversed
 Perform a DFS from v in G’
a
 If there’s a w not visited, print g
“no” G’: c

 Else, print “yes” d

e
 Running time: O(n+m)
f b

© 2015 Goodrich and Tamassia Directed Graphs 9

 Strongly Connected
Components
 Maximal subgraphs such that each vertex can
reach all other vertices in the subgraph
 Can also be done in O(n+m) time using DFS,
but is more complicated (similar to
biconnectivity).
a
g {a,c,g}
c

d
e
b
{f,d,e,b}
f

© 2015 Goodrich and Tamassia Directed Graphs 10

 Transitive Closure
 Given a digraph G, the D E
transitive closure of G is
the digraph G* such that B
 G* has the same G
C
vertices as G
 if G has a directed
A
path from u to v (u 
v), G* has a directed D E
edge from u to v
 The transitive closure B
provides reachability
information about a C
digraph A G*
© 2015 Goodrich and Tamassia Directed Graphs 11
 Computing the
Transitive Closure
If there's a way to get
 We can perform from A to B and from
DFS starting at B to C, then there's a
each vertex way to get from A to C.
 O(n(n+m))

Alternatively ... Use

dynamic
programming: The
Floyd-Warshall
Algorithm
© 2015 Goodrich and Tamassia Directed Graphs 12
 Floyd-Warshall
Transitive Closure
 Idea #1: Number the vertices 1, 2,
…, n.
 Idea #2: Consider paths that use
only vertices numbered 1, 2, …, k,
as intermediateUses
vertices:
only vertices numbered 1,…,k
(add this edge if it’s not already in)
i

Uses only vertices j

numbered 1,…,k-1 Uses only vertices
k numbered 1,…,k-1
© 2015 Goodrich and Tamassia Directed Graphs 13
 Floyd-Warshall’s
Algorithm: High-Level View
 Number vertices v1 , …, vn
 Compute digraphs G0, …, Gn
 G0=G
 Gk has directed edge (vi, vj) if G has a directed
path from vi to vj with intermediate vertices
in
{v1 , …, vk}
 We have that Gn = G*
 In phase k, digraph Gk is computed from
Gk - 1
© 2015 Goodrich and Tamassia Directed Graphs 14
 3
 The Floyd-Warshall
Algorithm

 The running time is clearly O(n3).

© 2015 Goodrich and Tamassia Directed Graphs 15
 Floyd-Warshall Example v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 16
 Floyd-Warshall, Iteration 1 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 17
 Floyd-Warshall, Iteration 2 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 18
 Floyd-Warshall, Iteration 3 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 19
 Floyd-Warshall, Iteration 4 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 20
 Floyd-Warshall, Iteration 5 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 21
 Floyd-Warshall, Iteration 6 v7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 22
 Floyd-Warshall, Conclusion v 7
BOS

ORD v4
JFK
v2 v6
SFO

DFW
LAX
v3
v1
MIA

v5
© 2015 Goodrich and Tamassia Directed Graphs 23
 DAGs and Topological
Ordering
 A directed acyclic graph (DAG) D E
is a digraph that has no
directed cycles B
 A topological ordering of a
digraph is a numbering C
v1 , …, vn A DAG G
of the vertices such that for
every edge (vi , vj), we have i < j v4 v5
 Example: in a task scheduling D E
digraph, a topological ordering v2
a task sequence that satisfies
B
the precedence constraints v3
Theorem
v1 C
A digraph admits a topological Topological
ordering if and only if it is a A ordering of
DAG
© 2015 Goodrich and Tamassia Directed Graphs G 24
 Topological Sorting
 Number vertices, so that (u,v) in E implies
u < v wake up 1 A typical student day
2 3
eat
study computer sci.

4 5
nap more c.s.
7
play
8
write c.s. program 6
9 work out
bake cookies
10
sleep 11
dream about
© 2015 Goodrich and Tamassia Directed Graphs
graphs 25
 Algorithm for Topological
Sorting
 Note: This algorithm is different than
the one in the book
Algorithm TopologicalSort(G)
HG // Temporary copy of G
n  G.numVertices()
while H is not empty do
Let v be a vertex with no outgoing edges
Label v  n
nn-1
Remove v from H

 Running time: O(n + m)

© 2015 Goodrich and Tamassia Directed Graphs 26
 Implementation with
DFS
 Simulate the algorithm by Algorithm topologicalDFS(G, v)
using depth-first search Input graph G and a start vertex
 O(n+m) time. v of G
Output labeling of the vertices
of G
Algorithm topologicalDFS(G) in the connected
Input dag G component of v
Output topological ordering setLabel(v, VISITED)
of G for all e  G.outEdges(v)
n  G.numVertices() { outgoing edges }
for all u  G.vertices() w  opposite(v,e)
setLabel(u, if getLabel(w) =
UNEXPLORED) UNEXPLORED
for all v  G.vertices() { e is a discovery
if getLabel(v) = edge }
UNEXPLORED topologicalDFS(G,
w)
topologicalDFS(G, v) else
© 2015 Goodrich and Tamassia Directed Graphs 27
{ e is a forward or
 Topological Sorting
Example

© 2015 Goodrich and Tamassia Directed Graphs 28

 Topological Sorting
Example

9
© 2015 Goodrich and Tamassia Directed Graphs 29
 Topological Sorting
Example

9
© 2015 Goodrich and Tamassia Directed Graphs 30
 Topological Sorting
Example

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 31
 Topological Sorting
Example

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 32
 Topological Sorting
Example

6 5

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 33
 Topological Sorting
Example

4
6 5

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 34
 Topological Sorting
Example

3
4
6 5

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 35
 Topological Sorting
Example
2

3
4
6 5

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 36
 Topological Sorting
Example
2
1

3
4
6 5

7
8

9
© 2015 Goodrich and Tamassia Directed Graphs 37