Unweighted Shortest Paths Dijkstras Algorithm
CS 202 Data Structures and Algorithms
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Announcement
Lab exam will take place on May 17 2011 17, Tuesday, at 6:30pm
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Shortest-Path Algorithms
Th i The input i a weighted graph: associated t is i ht d h i t d with each edge (vi, vj) is a cost ci,j. The cost of a path v1v2...vN is ci,i+1 for i in v [1..N-1]. This is weighted path length, the unweighted path length on the other hand is merely the number of edges on p , y, the path, namely, N-1. Single-source Shortest-Path Problem: p g graph ( , ), Given as input a weighted g p G=(V, E), and a distinguished vertex, s, find the shortest weighted path from s to every other vertex in G th t i G.
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Negative Cost Cycles
I the graph to the l ft th shortest path from v1 t v6 h a In th h t th left, the h t t th f to has cost of 6 and the path itself is v1v4v7v6. The shortest unweighted p g path has 2 edges. g 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 5 shortest, because we could stay in the loop arbitrarily long.
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Unweighted Shortest Paths g
Using some vertex, s, which is an input parameter, find the shortest path from s to all other vertices i an unweighted graph. A th ti in i ht d h 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
Complexity O(|V|2)
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Unweighted Shortest Paths - Improvement At any point in time there y yp 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 structure. O(|E|+|V|)
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Weighted Shortest Path Dijkstras 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. Dijkstras algorithm selects a vertex v with smallest dv among all unknown vertices and declares it known Remainder of the known. stage consists of updating the values dw for all edges (v w) (v, w).
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Dijkstras Algorithm - Example
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Dijkstra s Dijkstras Algorithm - Example
A proof by contradiction will show that this algorithm always works as long as no edge has a negative cost cost.
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Dijkstras Algorithm - Pseudocode
If the vertices a e t e e t ces 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 t t l of O(|E|). total f O(|E|) Therefore the total time spent is O(|V|2+|E|). If the graph is dense, OPTIMAL.
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Dijkstras Algorithm-What if the graph is sparse?
If the graph is sparse |E|=(|V|), algorithm is too |E| (|V|), 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 b able to maintain l be bl i i locations of di i the h i f in h heap and update them as they change. Alt Alternative: i ti insert w and dw with every update. t d ith d t
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Graphs with negative edge costs
Dijkstras algorithm does not work with Dijkstra s negative edge costs. Once a vertex u is known, known it is possible that from some other unknown vertex v, there is a path back to u that is very negative negative. Algorithm: A combination of weighted and unweighted algorithms Forget about the algorithms. concept of known vertices.
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Graphs with negative edge costs - I
O(|E|*|V|) Each vertex O(|E| |V|). can dequeue at most O(|V|) times. (Why? (| |) ( y 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 | | q |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 lowered ordering rule it has no incoming edges emanating from unknown nodes nodes.
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