Lec 17

Introduction to Algorithms
6.046J/18.401J LECTURE 17
Shortest Paths I Properties of shortest paths Dijkstras algorithm Correctness Analysis Breadth-first search Prof. Erik Demaine
November 14, 2005 Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson L17.1
Paths in graphs
Consider a digraph G = (V, E) with edge-weight function w : E R. The weight of path p = v1 v2 L vk is defined to be
w( p ) = w(vi , vi +1 ) .
i =1
k 1
November 14, 2005
Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson
L17.2
Paths in graphs
Consider a digraph G = (V, E) with edge-weight function w : E R. The weight of path p = v1 v2 L vk is defined to be w( p ) = w(vi , vi +1 ) .
i =1 k 1
Example:
v v11
v v22
v v33
v v44
v v55 w(p) = 2
L17.3
November 14, 2005
Shortest paths
A shortest path from u to v is a path of minimum weight from u to v. The shortestpath weight from u to v is defined as (u, v) = min{w(p) : p is a path from u to v}.
Note: (u, v) = if no path from u to v exists.
November 14, 2005
L17.4
Optimal substructure
Theorem. A subpath of a shortest path is a shortest path.
November 14, 2005
L17.5
Proof. Cut and paste:
November 14, 2005
L17.6
Proof. Cut and paste:
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L17.7
Triangle inequality
Theorem. For all u, v, x V, we have (u, v) (u, x) + (x, v).
November 14, 2005
L17.8
Triangle inequality
Theorem. For all u, v, x V, we have (u, v) (u, x) + (x, v).
Proof. u u
(u, x) (u, v)
v v
(x, v)
x x
Well-definedness of shortest paths

If a graph G contains a negative-weight cycle, then some shortest paths may not exist.
November 14, 2005
L17.10
Well-definedness of shortest paths

If a graph G contains a negative-weight cycle, then some shortest paths may not exist.
Example:
<0
u u
November 14, 2005 Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson
v v
L17.11
Single-source shortest paths

Problem. From a given source vertex s V, find the shortest-path weights (s, v) for all v V. If all edge weights w(u, v) are nonnegative, all shortest-path weights must exist. IDEA: Greedy. 1. Maintain a set S of vertices whose shortestpath distances from s are known. 2. At each step add to S the vertex v V S whose distance estimate from s is minimal. 3. Update the distance estimates of vertices adjacent to v.
Dijkstras algorithm
d [ s] 0 for each v V {s} do d[v] S QV Q is a priority queue maintaining V S
November 14, 2005
L17.13
Dijkstras algorithm
d [ s] 0 for each v V {s} do d[v] S QV Q is a priority queue maintaining V S while Q do u EXTRACT-MIN(Q) S S {u} for each v Adj[u] do if d[v] > d[u] + w(u, v) then d[v] d[u] + w(u, v)
November 14, 2005
L17.14
Dijkstras algorithm
d [ s] 0 for each v V {s} do d[v] S QV Q is a priority queue maintaining V S while Q do u EXTRACT-MIN(Q) S S {u} for each v Adj[u] relaxation do if d[v] > d[u] + w(u, v) then d[v] d[u] + w(u, v) step
Implicit DECREASE-KEY
Example of Dijkstras algorithm

Graph with nonnegative edge weights:
10
B B
1 4
2 8
D D
7 9
A A
3
C C
E E
November 14, 2005
L17.16

Initialize:
10
B B
2 8
D D
7 9
0 A A Q: A B C D E
0
1 4 3
C C
E E
S: {}

A EXTRACT-MIN(Q):
10
B B
2 8
D D
7 9
0 A A Q: A B C D E
0
1 4 3
C C
E E
S: { A }

Relax all edges leaving A:
10
10 B B
2 8
D D
7 9
0 A A Q: A B C D E
0 10 3
1 4 3
C C 3
E E
S: { A }

C EXTRACT-MIN(Q):
10
10 B B
2 8
D D
7 9
0 A A Q: A B C D E
0 10 3
1 4 3
C C 3
E E
S: { A, C }

Relax all edges leaving C:
10
7 B B
2 8
11 D D
7 9
0 A A Q: A B C D E
0 10 7 3 11 5
1 4 3
C C 3
E E 5
S: { A, C }
L17.21
November 14, 2005

E EXTRACT-MIN(Q):
10
7 B B
2 8
11 D D
7 9
0 A A Q: A B C D E
0 10 7 3 11 5
1 4 3
C C 3
E E 5
S: { A, C, E }
L17.22
November 14, 2005

Relax all edges leaving E:
10
7 B B
2 8
11 D D
7 9
0 A A Q: A B C D E
0 10 7 7 3 11 11 5
1 4 3
C C 3
E E 5
S: { A, C, E }
L17.23
November 14, 2005

B EXTRACT-MIN(Q):
10
7 B B
2 8
11 D D
7 9
0 A A Q: A B C D E
0 10 7 7 3 11 11 5
1 4 3
C C 3
E E 5
S: { A, C, E, B }
L17.24
November 14, 2005

Relax all edges leaving B:
10
7 B B
2 8
9 D D
7 9
0 A A Q: A B C D E
0 10 7 7 3 11 11 9 5
1 4 3
C C 3
E E 5
S: { A, C, E, B }
L17.25
November 14, 2005

D EXTRACT-MIN(Q):
10
7 B B
2 8
9 D D
7 9
0 A A Q: A B C D E
0 10 7 7 3 11 11 9 5
1 4 3
C C 3
E E 5
S: { A, C, E, B, D }
L17.26
November 14, 2005
Correctness Part I
Lemma. Initializing d[s] 0 and d[v] for all v V {s} establishes d[v] (s, v) for all v V, and this invariant is maintained over any sequence of relaxation steps.
November 14, 2005
L17.27
Correctness Part I
Lemma. Initializing d[s] 0 and d[v] for all v V {s} establishes d[v] (s, v) for all v V, and this invariant is maintained over any sequence of relaxation steps. Proof. Suppose not. Let v be the first vertex for which d[v] < (s, v), and let u be the vertex that caused d[v] to change: d[v] = d[u] + w(u, v). Then, d[v] < (s, v) supposition (s, u) + (u, v) triangle inequality (s,u) + w(u, v) sh. path specific path d[u] + w(u, v) v is first violation Contradiction.
Correctness Part II
Lemma. Let u be vs predecessor on a shortest path from s to v. Then, if d[u] = (s, u) and edge (u, v) is relaxed, we have d[v] = (s, v) after the relaxation.
November 14, 2005
L17.29
Correctness Part II
Lemma. Let u be vs predecessor on a shortest path from s to v. Then, if d[u] = (s, u) and edge (u, v) is relaxed, we have d[v] = (s, v) after the relaxation. Proof. Observe that (s, v) = (s, u) + w(u, v). Suppose that d[v] > (s, v) before the relaxation. (Otherwise, were done.) Then, the test d[v] > d[u] + w(u, v) succeeds, because d[v] > (s, v) = (s, u) + w(u, v) = d[u] + w(u, v), and the algorithm sets d[v] = d[u] + w(u, v) = (s, v).
Correctness Part III

Theorem. Dijkstras algorithm terminates with d[v] = (s, v) for all v V.
November 14, 2005
L17.31
Correctness Part III

Theorem. Dijkstras algorithm terminates with d[v] = (s, v) for all v V.
Proof. It suffices to show that d[v] = (s, v) for every v V when v is added to S. Suppose u is the first vertex added to S for which d[u] > (s, u). Let y be the first vertex in V S along a shortest path from s to u, and let x be its predecessor:
u u S, just before adding u.

November 14, 2005
s s
x x
y y
L17.32
Correctness Part III (continued)

S s s x x y y u u
Since u is the first vertex violating the claimed invariant, we have d[x] = (s, x). When x was added to S, the edge (x, y) was relaxed, which implies that d[y] = (s, y) (s, u) < d[u]. But, d[u] d[y] by our choice of u. Contradiction.
Analysis of Dijkstra
while Q do u EXTRACT-MIN(Q) S S {u} for each v Adj[u] do if d[v] > d[u] + w(u, v) then d[v] d[u] + w(u, v)
November 14, 2005
L17.34
|V | times while Q do u EXTRACT-MIN(Q) S S {u} for each v Adj[u] do if d[v] > d[u] + w(u, v) then d[v] d[u] + w(u, v)
November 14, 2005
L17.35
|V | times while Q do u EXTRACT-MIN(Q) S S {u} for each v Adj[u] degree(u) do if d[v] > d[u] + w(u, v) times then d[v] d[u] + w(u, v)
November 14, 2005
L17.36
Handshaking Lemma (E) implicit DECREASE-KEYs.
November 14, 2005
L17.37
Handshaking Lemma (E) implicit DECREASE-KEYs.
Time = (VTEXTRACT-MIN + ETDECREASE-KEY)

Note: Same formula as in the analysis of Prims minimum spanning tree algorithm.
Analysis of Dijkstra (continued)

Time = (V)TEXTRACT-MIN + (E)TDECREASE-KEY Q TEXTRACT-MIN TDECREASE-KEY Total
November 14, 2005
L17.39

Time = (V)TEXTRACT-MIN + (E)TDECREASE-KEY Q array TEXTRACT-MIN TDECREASE-KEY O(V) O(1) Total O(V2)
November 14, 2005
L17.40

Time = (V)TEXTRACT-MIN + (E)TDECREASE-KEY Q array binary heap TEXTRACT-MIN TDECREASE-KEY O(V) O(lg V) O(1) O(lg V) Total O(V2) O(E lg V)
November 14, 2005
L17.41

Time = (V)TEXTRACT-MIN + (E)TDECREASE-KEY Q array binary heap TEXTRACT-MIN TDECREASE-KEY O(V) O(lg V) O(1) O(lg V) Total O(V2) O(E lg V)
Fibonacci O(lg V) heap amortized

November 14, 2005
O(1) O(E + V lg V) amortized worst case

L17.42
Unweighted graphs
Suppose that w(u, v) = 1 for all (u, v) E. Can Dijkstras algorithm be improved?
November 14, 2005
L17.43
Unweighted graphs
Suppose that w(u, v) = 1 for all (u, v) E. Can Dijkstras algorithm be improved? Use a simple FIFO queue instead of a priority queue.
November 14, 2005
L17.44
Unweighted graphs
Suppose that w(u, v) = 1 for all (u, v) E. Can Dijkstras algorithm be improved? Use a simple FIFO queue instead of a priority queue. Breadth-first search
while Q do u DEQUEUE(Q) for each v Adj[u] do if d[v] = then d[v] d[u] + 1 ENQUEUE(Q, v)
November 14, 2005
L17.45
Unweighted graphs
Suppose that w(u, v) = 1 for all (u, v) E. Can Dijkstras algorithm be improved? Use a simple FIFO queue instead of a priority queue. Breadth-first search
Analysis: Time = O(V + E).

Example of breadth-first search

a a d d b b e e c c Q:
ff g g
h h
ii

0
a a d d b b e e c c Q: a
0
ff g g
h h
ii
November 14, 2005
L17.48

0
a a b b
ff g g
h h
d d
1
e e c c
1 1
ii
Q: a b d

0
a a b b
ff g g
h h
d d
1
e e
2
ii
c c
2 1 2 2
Q: a b d c e

0
a a b b
ff g g
h h
d d
1
e e
2
ii
2 2
c c
Q: a b d c e

0
a a b b
ff g g
h h
d d
1
e e
2
ii
2
c c
Q: a b d c e

0
a a b b
ff
3
h h
d d
1
g g ii
3
e e
2
c c
2 3 3
Q: a b d c e g i

4 0
a a b b
ff
3
h h
d d
1
g g ii
3 3 4
e e
2
c c
Q: a b d c e g i f

4 0 4
a a b b
ff
3
h h
d d
1
g g ii
3 4 4
e e
2
c c
Q: a b d c e g i f h

4 0 4
a a b b
ff
3
h h
d d
1
g g ii
3 4
e e
2
c c

4 0 4
a a b b
ff
3
h h
d d
1
g g ii
3
e e
2
c c

4 0 4
a a b b
ff
3
h h
d d
1
g g ii
3
e e
2
c c
Correctness of BFS
Key idea: The FIFO Q in breadth-first search mimics the priority queue Q in Dijkstra. Invariant: v comes after u in Q implies that d[v] = d[u] or d[v] = d[u] + 1.

Lec 17

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Introduction to Algorithms

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Proof. Cut and paste:

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Proof. Cut and paste:

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Well-definedness of shortest paths

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Well-definedness of shortest paths

Single-source shortest paths

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

Example of Dijkstras algorithm

Example of Dijkstras algorithm

Example of Dijkstras algorithm

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Example of Dijkstras algorithm

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Correctness Part III

November 14, 2005

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Correctness Part III

u u S, just before adding u.

Copyright 2001-5 by Erik D. Demaine and Charles E. Leiserson

Correctness Part III (continued)

November 14, 2005