Depth First Search Algorithm and Data Structure Lecture

1. Algorithms (andDatastructures) Lecture 5 MAS 714 part 2 Hartmut Klauck

2. Depth First Search • If we use a stack as datastructure we get Depth First Search (DFS) • Typically, DFS will maintain some extra information: • Time when v is put on the stack • Time, when all neighbors of v have been examined • This information is useful for applications

3. Datastructure: Stack • A stack is a linked list together with two operations • push(x,S): Insert element x at the front of the list S • pop(S): Remove the front element of the list S • Implementation: • Need to maintain only the pointer to the front of the stack • Useful to also have • peek(S): Find the front element but don’t remove

4. Digression: Recursion and Stacks • Our model of Random Access Machines does not directly allow recursion • Neither does any real hardware • Compilers will “roll out” recursive calls • Put all local variables of the calling procedure in a safe place • Execute the call • Return the result and restore the local variables

5. Recursion • The best datastructure for this is a stack • Push all local variables to the stack • LIFO functionality is exactly the right thing • Example: Recursion tree of Quicksort

6. DFS • Procedure: • For all v: • ¼(v)=NIL, d(v)=0, f(v)=0 • Enter s into the stack S, set TIME=1, d(s)=TIME • While S is not empty • v=peek(S) • Find the first neighbor w of v with d(w)=0: • push(w,S) , ¼(w)=v, TIME=TIME+1, d(w)=TIME • If there is no such w: pop(S), TIME=TIME+1, f(v)=TIME • Goto 3.

7. DFS • The array d(v) holds the time we first visit a vertex. • The array f(v) holds the time when all neighbors of v have been processed • “discovery” and “finish” • In particular, when d(v)=0 then v has not been found yet

8. Simple Observations • Vertices are given d(v) numbers between 1 and 2n • Each vertex is put on the stack once, and receives the f(v) number once all neighbors are visited • Running time is O(n+m)

9. A recursive DFS • Stacks are there to roll out recursion • Consider the procedure in a recursive way! • Furthermore we can start DFS from all unvisited vertices to traverse the whole graph, not just the vertices reachable from s • We also want to label edges • The edges in (¼(v),v) form trees: tree edges • We can label all other edges as • back edges • cross edges • forward edges

10. Edge classification • Lemma: the edges (¼(v),v) form a tree • Definition: • Edges going down along a path in a tree (but not tree edge) are forward edges • Edges going up along a path in a tree areback edges • Edges across paths/tree are cross edges • A vertex v is a descendant of u if there is a path of tree edges from u to v • Observation: descendants are discovered after their “ancestors” but finish before them

11. Example: edge labeling • Tree edges, Back edges, Forward edges, Cross edges

12. Recursive DFS • DFS(G): • TIME=1 (global variable) • For all v: ¼(v)=NIL, d(v)=0, f(v)=0 • For all v: if d(v)=0 then DFS(G,v) • DFS(G,v) • TIME=TIME+1, d(v)=TIME • For all neighbors w of v: • If d(w)=0 then (v,w) is tree edge, DFS(G,w) • If d(w)0 and f(w)0 then cross edge or forward edge • If d(w)0 and f(w)=0 then back edge • TIME=TIME+1, f(v)=TIME

13. Recursive DFS • How to decide if forward or cross edge? • Assume, edge(v,w) and f(w) is not 0 • If d(w)>d(v) then forward edge • If d(v)>d(w) then cross edge

14. Application 1: Topological Sorting • A DAG is a directed acyclic graph • A partial order on vertices • A topological sort of a DAG is a numbering of vertices s.t. all edges go from smaller to larger vertices • A total order that is consistent with the partial order

15. Topological Sorting • Lemma: G is a DAG iff there are no back edges • Proof: • If there is a back edge, then there is a cycle • The other direction: suppose there is a cycle c • Let u be the first vertex discovered on c • v is u’s predecessor on c • Then v is a descendant of u, i.e., d(v)>d(u) and f(v)<f(u) • When (v,u) is processed f(u)=0, d(v)>d(u) • (v,u) is a back edge

16. Topological Sorting • Algorithm: • Output the vertices in the reverse order of the f(v) as the topological sorting of G • I.e., put the v into a list when they are finished, last finished is first in list

17. Topological Sorting • We need to prove correctness • Certainly we provide a total ordering of vertices • Now assume vertex i is smaller than j in the ordering • I.e., i finished after j • Need to show: there is no path from j to i • Proof: • j finished means all descendants of j are finished • i is not a descendant (otherwise finishes first) • So there is a path from a descendant to an ancestor • Such a path must have back edges • Not a DAG

18. Topological Sorting • Hence we can compute a topological sort in linear time

19. Application 2: Strongly connected components • Definition: • A strongly connected component of a graph G is a maximal set of vertices V’ such that for each pair of vertices v,w in V’ there is a path from v to w • Note: in undirected graphs connected component, but now we have one-way roads • Connected components (viewed as vertices) form a DAG inside a graph G

20. Stronglyconnectedcomponents • Algorithm • DFS(G) tocompute finish time f(v) for all v • ComputeGT • DFS(GT), but in DFS proceduregooververtices in the order ofdecreasing f(v) fromfirst DFS • Vertices in a treeofDFS(GT) form a connectedcomponent

21. Stronglyconnectedcomponents • Time: O(n+m) • Weskipthecorrectnessproof • Note theusefulnessofthe f(v) numberscomputed in thefirst DFS

22. Shortest paths in weighted graphs • We are given a graph G (adjacency list withweights W(u,v)) • No edge means W(u,v)=1 • We look for shortest paths from start vertex s to all other vertices • Length of a path is the sum of edge weights • Distance±(u,v) is the minimum path length on any path u to v

23. Variants • Single-Source Shortest-Path (SSSP):Shortest paths from s to all v • All-Pairs Shortest-Path (APSP):Shortest paths between all u,v • We will now consider SSSP • Solved in unweighted graphs by BFS

24. Observation • We don‘t allow negative weight cycles • Consider a minimal path from u to v • Then: all subpaths of minimal paths are also minimal! • Idea: Weshould find shortest paths with few edges first • We will use estimates d(v), starting from d(s)=0 and d(v)=1for all other v (Pessimism!) • Improve estimates until tight

25. Storing paths • Again we store predecessors (v), starting at NIL • In the end they will form a shortest path tree

26. Relaxing an edge • Basic Operation: • Relax(u,v,W) • if d(v)>d(u)+W(u,v)then d(v):=d(u)+W(u,v); (v):=u • D.h. If we find a better estimate we go for it

27. Observations • Every sequence of relax operations satisfies: • d(v) ¸(s,v) at all time • Clearly: vertices with (s,v)=1always have d(v)=1 • If s u v is a shortest path and (u,v) an edge and d(u)=(s,u).Relaxing (u,v) gives d(v)=(s,v) • d(v)· d(u)+W(u,v) after relaxing=(s,u)+W(u,v)=(s,v), minimality of partial shortest paths

28. Dijkstra‘s Algorithm • Solves SSSP • Needs: W(u,v)¸ 0 for all edges • Idea: store vertices so that we can choose a vertex with minimal distance estimate • Choose v with minimal d(v), relax all edges • until all v are processed

29. Data Structure • Store n vertices and their distance estimate d(v) • Operations: • ExtractMin: Get the vertex with minimum d(v) • DecreaseKey(v,x): replace d(v) with a smallervalue x • Insert(v,x): Insert a newvertexwith d(v)=x • Initialize and Test for empty • Priority Queue

30. Dijkstra‘s Algorithm • Initialize (v)=NIL for all v andd(s)=0, d(v)=1otherwise • S=;set of vertices processed • Insert all vertices into Q (priority queue) • While Q; • u:=ExtractMin • S:=S [ {u} and Q:=Q-{u} • For all neighbors v of u: relax(u,v,W) • relax uses DecreaseKey