1. Shortest Paths C B A E D F 3 2 8 5 4 7 1 9

2. Outline and Reading Weighted graphs (§7.1)
Shortest path problem
Shortest path properties
Dijkstra’s algorithm (§7.1.1)
Algorithm
Edge relaxation
The Bellman-Ford algorithm (§7.1.2)
Shortest paths in dags (§7.1.3)
All-pairs shortest paths (§7.2.1)

3. Weighted Graphs PVD ORD SFO LGA HNL LAX DFW MIA 849 1843 142 802 1743
In a weighted graph, each edge has an associated numerical value, called the weight of the edge
Edge weights may represent, distances, costs, etc.
Example:
In a flight route graph, the weight of an edge represents the distance in miles between the endpoint airports
849
PVD
1843
ORD
142
SFO
802
LGA
1743
1205
337
1387
HNL
2555
1099
LAX
1233
DFW
1120
MIA

4. Shortest Path Problem PVD ORD SFO LGA HNL LAX DFW MIA 849 1843 142 802
Given a weighted graph and two vertices u and v, we want to find a path of minimum total weight between u and v.
Length of a path is the sum of the weights of its edges.
Example:
Shortest path between Providence and Honolulu
Applications
Internet packet routing
Flight reservations
Driving directions
849
PVD
1843
ORD
142
SFO
802
LGA
1743
1205
337
1387
HNL
2555
1099
LAX
1233
DFW
1120
MIA

5. Shortest Path Properties
Property 1:
A subpath of a shortest path is itself a shortest path
Property 2:
There is a tree of shortest paths from a start vertex to all the other vertices
Example:
Tree of shortest paths from Providence
849
PVD
1843
ORD
142
SFO
802
LGA
1743
1205
337
1387
HNL
2555
1099
LAX
1233
DFW
1120
MIA

6. Dijkstra’s Algorithm
The distance of a vertex v from a vertex s is the length of a shortest path between s and v
Dijkstra’s algorithm computes the distances of all the vertices from a given start vertex s
Assumptions:
the graph is connected
the edges are undirected
the edge weights are nonnegative
We grow a “cloud” of vertices, beginning with s and eventually covering all the vertices
We store with each vertex v a label d(v) representing the distance of v from s in the subgraph consisting of the cloud and its adjacent vertices
At each step
We add to the cloud the vertex u outside the cloud with the smallest distance label, d(u)
We update the labels of the vertices adjacent to u

7. Edge Relaxation d(z) = 75 d(z) = 60
Consider an edge e = (u,z) such that
u is the vertex most recently added to the cloud
z is not in the cloud
The relaxation of edge e updates distance d(z) as follows:
d(z)  min{d(z),d(u) + weight(e)}
d(u) = 50 10
d(z) = 75 e u s z
d(u) = 50 10
d(z) = 60 u e s z

8. Example C B A E D F 4 2 8  7 1 5 3 9 11

9. Example (cont.) A 8 4 2 7 2 3 7 1 B C D 3 9 5 8 2 5 E F A 4 8 2 7 2 3A 8 4 2 7 2 3 7 1 B C D 3 9 5 8 2 5 E F A 4 8 2 7 2 3 7 1 B C D 3 9 5 8 2 5 E F

10. Dijkstra’s Algorithm Algorithm DijkstraDistances(G, s)
Q  new heap-based priority queue
for all v  G.vertices()
if v = s
setDistance(v, 0)
else
setDistance(v, )
l  Q.insert(getDistance(v), v)
setLocator(v,l)
while Q.isEmpty()
u  Q.removeMin()
for all e  G.incidentEdges(u)
{ relax edge e }
z  G.opposite(u,e)
r  getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r) Q.replaceKey(getLocator(z),r)
A priority queue stores the vertices outside the cloud
Key: distance
Element: vertex
Locator-based methods
insert(k,e) returns a locator
replaceKey(l,k) changes the key of an item
We store two labels with each vertex:
Distance (d(v) label)
locator in priority queue

11. Analysis Graph operations Label operations Priority queue operations
Method incidentEdges is called once for each vertex
Label operations
We set/get the distance and locator labels of vertex z O(deg(z)) times
Setting/getting a label takes O(1) time
Priority queue operations
Each vertex is inserted once into and removed once from the priority queue, where each insertion or removal takes O(log n) time
The key of a vertex in the priority queue is modified at most deg(w) times, where each key change takes O(log n) time
Dijkstra’s algorithm runs in O((n + m) log n) time provided the graph is represented by the adjacency list structure
Recall that Sv deg(v) = 2m
The running time can also be expressed as O(m log n) since the graph is connected

12. Extension
Using the template method pattern, we can extend Dijkstra’s algorithm to return a tree of shortest paths from the start vertex to all other vertices
We store with each vertex a third label:
parent edge in the shortest path tree
In the edge relaxation step, we update the parent label
Algorithm DijkstraShortestPathsTree(G, s) …
for all v  G.vertices()
setParent(v, )
for all e  G.incidentEdges(u)
{ relax edge e }
z  G.opposite(u,e)
r  getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
setParent(z,e)
Q.replaceKey(getLocator(z),r)

13. Why Dijkstra’s Algorithm Works
Dijkstra’s algorithm is based on the greedy method. It adds vertices by increasing distance.
Suppose it didn’t find all shortest distances. Let F be the first wrong vertex the algorithm processed.
When the previous node, D, on the true shortest path was considered, its distance was correct.
But the edge (D,F) was relaxed at that time!
Thus, so long as d(F)>d(D), F’s distance cannot be wrong. That is, there is no wrong vertex. A 8 4 2 7 2 3 7 1 B C D 3 9 5 8 2 5 E F

14. Why It Doesn’t Work for Negative-Weight Edges
Dijkstra’s algorithm is based on the greedy method. It adds vertices by increasing distance. A 8 4
If a node with a negative incident edge were to be added late to the cloud, it could mess up distances for vertices already in the cloud. 6 7 5 4 7 1 B C D -8 5 9 2 5 E F
C’s true distance is 1, but it is already in the cloud with d(C)=5!

15. Bellman-Ford Algorithm
Algorithm BellmanFord(G, s)
for all v  G.vertices()
if v = s
setDistance(v, 0)
else
setDistance(v, )
for i  1 to n-1 do
for each e  G.edges()
{ relax edge e }
u  G.origin(e)
z  G.opposite(u,e)
r  getDistance(u) + weight(e)
if r < getDistance(z)
setDistance(z,r)
Works even with negative-weight edges
Must assume directed edges (for otherwise we would have negative-weight cycles)
Iteration i finds all shortest paths that use i edges.
Running time: O(nm).
Can be extended to detect a negative-weight cycle if it exists
How?

16. Nodes are labeled with their d(v) values
Bellman-Ford Example
Nodes are labeled with their d(v) values 4 4 8 8 -2 -2 8 -2 4 7 1 7 1       3 9 3 9 -2 5 -2 5     4 4 8 8 -2 -2 5 7 1 -1 7 1 8 -2 4 5 -2 -1 1 3 9 3 9 6 9 4 -2 5 -2 5   1 9

17. All-Pairs Shortest Paths
Algorithm AllPair(G) {assumes vertices 1,…,n}
for all vertex pairs (i,j)
if i = j
D0[i,i]  0
else if (i,j) is an edge in G
D0[i,j]  weight of edge (i,j)
else
D0[i,j]  + 
for k  1 to n do
for i  1 to n do
for j  1 to n do
Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
return Dn
Find the distance between every pair of vertices in a weighted directed graph G.
We can make n calls to Dijkstra’s algorithm (if no negative edges), which takes O(n m log n) time.
Likewise, n calls to Bellman-Ford would take O(n2m) time.
We can achieve O(n3) time using dynamic programming (similar to the Floyd-Warshall algorithm).
Uses only vertices numbered 1,…,k
(compute weight of this edge) i
Uses only vertices
numbered 1,…,k-1 j
Uses only vertices
numbered 1,…,k-1 k

18. All Pairs example Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
All Pairs example
Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
Original graph
Paths through V1 V1 V2 V3 V4 3 2 -3 4 1 V1 V2 V3 V4 3 2 -3 4 1
Check v2-v3, 2-4, 3-2, 3-4, 4-2, 4-3

19. All Pairs example Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
All Pairs example
Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
Paths through V1
Paths through V2 V1 V2 V3 V4 3 2 -3 4 1 V1 V2 V3 V4 3
2 0 -3 4 1
3 1

20. All Pairs example Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
All Pairs example
Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
Paths through V2
Paths through V3 V1 V2 V3 V4 3 -3 4 1 V1 V2 V3 V4 3 4 -3 1

21. All Pairs example Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
All Pairs example
Dk[i,j]  min{Dk-1[i,j], Dk-1[i,k]+Dk-1[k,j]}
Paths through V3
Paths through V4 V1 V2 V3 V4 3 4 -3 1 V1 V2 V3 V4 3 4 2 -3 5 8 1

22. Minimum Spanning Trees
JFK
BOS
MIA
ORD
LAX
DFW
SFO
BWI
PVD
867
2704
187
1258
849
144
740
1391
184
946
1090
1121
2342
1846
621
802
1464
1235
337

23. Outline and Reading Minimum Spanning Trees (§7.3)
Definitions
A crucial fact
The Prim-Jarnik Algorithm (§7.3.2)

24. Minimum Spanning Tree ORD PIT DEN DCA STL DFW ATL 10 1 6 7 9 3 4 8 5 2
Spanning subgraph
Subgraph of a graph G containing all the vertices of G
Spanning tree
Spanning subgraph that is itself a (free) tree
Minimum spanning tree (MST)
Spanning tree of a weighted graph with minimum total edge weight
Applications
Communications networks
Transportation networks 1
PIT
DEN 6 7 9 3
DCA
STL 4 8 5 2
DFW
ATL

25. Replacing f with e yields a better spanning tree
Cycle Property 8 4 2 3 6 7 9 e C f
Cycle Property:
Let T be a minimum spanning tree of a weighted graph G
Let e be an edge of G that is not in T and C let be the cycle formed by e with T
For every edge f of C, weight(f)  weight(e)
Proof:
By contradiction
If weight(f) > weight(e) we can get a spanning tree of smaller weight by replacing e with f
Replacing f with e yields a better spanning tree 8 4 2 3 6 7 9 C e f

26. Replacing f with e yields another MST
Partition Property U V 7 f 4 9 5
Partition Property:
Consider a partition of the vertices of G into subsets U and V
Let e be an edge of minimum weight across the partition
There is a minimum spanning tree of G containing edge e
Proof:
Let T be an MST of G
If T does not contain e, consider the cycle C formed by e with T and let f be an edge of C across the partition
By the cycle property, weight(f)  weight(e)
Thus, weight(f) = weight(e)
We obtain another MST by replacing f with e 2 8 8 3 e 7
Replacing f with e yields another MST U V 7 f 4 9 5 2 8 8 3 e 7

27. Prim-Jarnik’s Algorithm
Similar to Dijkstra’s algorithm (for a connected graph)
We pick an arbitrary vertex s and we grow the MST as a cloud of vertices, starting from s
We store with each vertex v a label d(v) = the smallest weight of an edge connecting v to a vertex in the cloud
At each step:
We add to the cloud the vertex u outside the cloud with the smallest distance label
We update the labels of the vertices adjacent to u

28. Prim-Jarnik’s Algorithm (cont.)
Algorithm PrimJarnikMST(G)
Q  new heap-based priority queue
s  a vertex of G
for all v  G.vertices()
if v = s
setDistance(v, 0)
else
setDistance(v, )
setParent(v, )
l  Q.insert(getDistance(v), v)
setLocator(v,l)
while Q.isEmpty()
u  Q.removeMin()
for all e  G.incidentEdges(u)
z  G.opposite(u,e)
r  weight(e)
if r < getDistance(z)
setDistance(z,r)
setParent(z,e) Q.replaceKey(getLocator(z),r)
A priority queue stores the vertices outside the cloud
Key: distance
Element: vertex
Locator-based methods
insert(k,e) returns a locator
replaceKey(l,k) changes the key of an item
We store three labels with each vertex:
Distance
Parent edge in MST
Locator in priority queue

29. Example B D C A F E 7 4 2 8 5 3 9 

30. Example (contd.) B D C A F E 7 4 2 8 5 3 9

31. Analysis Graph operations Label operations Priority queue operations
Method incidentEdges is called once for each vertex
Label operations
We set/get the distance, parent and locator labels of vertex z O(deg(z)) times
Setting/getting a label takes O(1) time
Priority queue operations
Each vertex is inserted once into and removed once from the priority queue, where each insertion or removal takes O(log n) time
The key of a vertex w in the priority queue is modified at most deg(w) times, where each key change takes O(log n) time
Prim-Jarnik’s algorithm runs in O((n + m) log n) time provided the graph is represented by the adjacency list structure
Recall that Sv deg(v) = 2m
The running time is O(m log n) since the graph is connected