Graph Algorithms
David Luebke 1 12/08/21
Graphs
● A graph G = (V, E)
■ V = set of vertices
■ E = set of edges = subset of V V
■ Thus |E| = O(|V|2)
David Luebke 2 12/08/21
Graph Variations
● Variations:
■ A connected graph has a path from every vertex to
every other
■ In an undirected graph:
○ Edge (u,v) = edge (v,u)
○ No self-loops
■ In a directed graph:
○ Edge (u,v) goes from vertex u to vertex v, notated uv
David Luebke 3 12/08/21
Graphs
● We will typically express running times in
terms of |E| and |V| (often dropping the |’s)
■ If |E| |V|2 the graph is dense
■ If |E| |V| the graph is sparse
● If you know you are dealing with dense or
sparse graphs, different data structures may
make sense
David Luebke 4 12/08/21
Representing Graphs
● Assume V = {1, 2, …, n}
● An adjacency matrix represents the graph as a
n x n matrix A:
■ A[i, j] = 1 if edge (i, j) E (or weight of edge)
= 0 if edge (i, j) E
David Luebke 5 12/08/21
Graphs: Adjacency Matrix
● Example:
A 1 2 3 4
1
a 1
2 d
4 2
3
b c
??
3 4
David Luebke 6 12/08/21
Graphs: Adjacency Matrix
● Example:
A 1 2 3 4
1
a 1 0 1 1 0
2 d
4 2 0 0 1 0
b c 3 0 0 0 0
3 4 0 0 1 0
David Luebke 7 12/08/21
Graphs: Adjacency Matrix
● How much storage does the adjacency matrix
require?
● A: O(V2)
● What is the minimum amount of storage
needed by an adjacency matrix representation
of an undirected graph with 4 vertices?
● ?????
David Luebke 8 12/08/21
Graphs: Adjacency Matrix
● The adjacency matrix is a dense representation
■ Usually too much storage for large graphs
■ But can be very efficient for small graphs
● Most large interesting graphs are sparse
■ For this reason the adjacency list is often a more
appropriate representation
David Luebke 9 12/08/21
Graphs: Adjacency List
● Adjacency list: for each vertex v V, store a list of
vertices adjacent to v
● Example:
■ Adj[1] = {2,3} 1
■ Adj[2] = {3}
■ Adj[3] = {} 2 4
■ Adj[4] = {3}
● Variation: can also keep
3
a list of edges coming into vertex
David Luebke 10 12/08/21
Graphs: Adjacency List
● How much storage is required?
■ The degree of a vertex v = # incident edges
○ Directed graphs have in-degree, out-degree
■ For directed graphs, # of items in adjacency lists is
out-degree(v) = |E|
takes (V + E) storage (Why?)
■ For undirected graphs, # items in adj lists is
degree(v) = 2 |E|
also (V + E) storage
● So: Adjacency lists take O(V+E) storage
David Luebke 11 12/08/21
Graph Searching
● Given: a graph G = (V, E), directed or undirected
● Goal: methodically explore every vertex and
every edge
● Ultimately: build a tree on the graph
■ Pick a vertex as the root
■ Choose certain edges to produce a tree
■ Note: might also build a forest if graph is not
connected
David Luebke 12 12/08/21
Breadth-First Search
● “Explore” a graph, turning it into a tree
■ One vertex at a time
■ Expand frontier of explored vertices across the
breadth of the frontier
● Builds a tree over the graph
■ Pick a source vertex to be the root
■ Find (“discover”) its children, then their children,
etc.
David Luebke 13 12/08/21
Breadth-First Search
● Again will associate vertex “colors” to guide the
algorithm
■ White vertices have not been discovered
○ All vertices start out white
■ Grey vertices are discovered but not fully explored
○ They may be adjacent to white vertices
■ Black vertices are discovered and fully explored
○ They are adjacent only to black and gray vertices
● Explore vertices by scanning adjacency list of grey
vertices
David Luebke 14 12/08/21
Breadth-First Search
BFS(G, s) {
initialize vertices;
Q = {s}; // Q is a queue (duh); initialize to s
while (Q not empty) {
u = RemoveTop(Q);
for each v u->adj {
if (v->color == WHITE)
v->color = GREY;
v->d = u->d + 1;
v->p = u;
What does v->d represent?
Enqueue(Q, v);
} What does v->p represent?
u->color = BLACK;
}
}
David Luebke 15 12/08/21
Breadth-First Search: Example
r s t u
v w x y
David Luebke 16 12/08/21
Breadth-First Search: Example
r s t u
0
v w x y
Q: s
David Luebke 17 12/08/21
Breadth-First Search: Example
r s t u
1 0
1
v w x y
Q: w r
David Luebke 18 12/08/21
Breadth-First Search: Example
r s t u
1 0 2
1 2
v w x y
Q: r t x
David Luebke 19 12/08/21
Breadth-First Search: Example
r s t u
1 0 2
2 1 2
v w x y
Q: t x v
David Luebke 20 12/08/21
Breadth-First Search: Example
r s t u
1 0 2 3
2 1 2
v w x y
Q: x v u
David Luebke 21 12/08/21
Breadth-First Search: Example
r s t u
1 0 2 3
2 1 2 3
v w x y
Q: v u y
David Luebke 22 12/08/21
Breadth-First Search: Example
r s t u
1 0 2 3
2 1 2 3
v w x y
Q: u y
David Luebke 23 12/08/21
Breadth-First Search: Example
r s t u
1 0 2 3
2 1 2 3
v w x y
Q: y
David Luebke 24 12/08/21
Breadth-First Search: Example
r s t u
1 0 2 3
2 1 2 3
v w x y
Q: Ø
David Luebke 25 12/08/21
BFS: The Code Again
BFS(G, s) {
initialize vertices; Touch every vertex: O(V)
Q = {s};
while (Q not empty) {
u = RemoveTop(Q);
for each v u->adj { u = every vertex, but only once
if (v->color == WHITE) (Why?)
v->color = GREY;
So v = every vertex v->d = u->d + 1;
that appears in v->p = u;
Enqueue(Q, v);
some other} vert’s
adjacencyu->color
list = BLACK;
}
} What will be the running time?
Total running time: O(V+E)
David Luebke 26 12/08/21
BFS: The Code Again
BFS(G, s) {
initialize vertices;
Q = {s};
while (Q not empty) {
u = RemoveTop(Q);
for each v u->adj {
if (v->color == WHITE)
v->color = GREY;
v->d = u->d + 1;
v->p = u;
Enqueue(Q, v);
}
u->color = BLACK;
What will be the storage cost
}
} in addition to storing the tree?
Total space used:
O(max(degree(v))) = O(E)
David Luebke 27 12/08/21
Breadth-First Search: Properties
● BFS calculates the shortest-path distance to the
source node
■ Shortest-path distance (s,v) = minimum number of
edges from s to v, or if v not reachable from s
■ Proof given in the book (p. 472-5)
● BFS builds breadth-first tree, in which paths to
root represent shortest paths in G
■ Thus can use BFS to calculate shortest path from one
vertex to another in O(V+E) time
David Luebke 28 12/08/21
Depth-First Search
● Depth-first search is another strategy for
exploring a graph
■ Explore “deeper” in the graph whenever possible
■ Edges are explored out of the most recently
discovered vertex v that still has unexplored edges
■ When all of v’s edges have been explored,
backtrack to the vertex from which v was
discovered
David Luebke 29 12/08/21
Depth-First Search
● Vertices initially colored white
● Then colored gray when discovered
● Then black when finished
David Luebke 30 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
David Luebke 31 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
What does u->d represent?
David Luebke 32 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
What does u->f represent?
David Luebke 33 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
Will all vertices eventually be colored black?
David Luebke 34 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
What will be the running time?
David Luebke 35 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
Running time: O(n2) because call DFS_Visit on each vertex,
and the loop over Adj[] can run as many as |V| times
David Luebke 36 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
BUT, there is actually a tighter bound.
How many times will DFS_Visit() actually be called?
David Luebke 37 12/08/21
Depth-First Search: The Code
DFS(G) DFS_Visit(u)
{ {
u->color = GREY;
for each vertex u G->V
time = time+1;
{ u->d = time;
u->color = WHITE; for each v u->Adj[]
} {
time = 0; if (v->color == WHITE)
for each vertex u G->V DFS_Visit(v);
{ }
if (u->color == WHITE) u->color = BLACK;
DFS_Visit(u); time = time+1;
} u->f = time;
} }
So, running time of DFS = O(V+E)
David Luebke 38 12/08/21
Depth-First Sort Analysis
● This running time argument is an informal
example of amortized analysis
■ “Charge” the exploration of edge to the edge:
○ Each loop in DFS_Visit can be attributed to an edge in the
graph
○ Runs once/edge if directed graph, twice if undirected
○ Thus loop will run in O(E) time, algorithm O(V+E)
Considered linear for graph, b/c adj list requires O(V+E) storage
■ Important to be comfortable with this kind of reasoning
and analysis
David Luebke 39 12/08/21
DFS Example
source
vertex
David Luebke 40 12/08/21
DFS Example
source
vertex
d f
1 | | |
| |
| | |
David Luebke 41 12/08/21
DFS Example
source
vertex
d f
1 | | |
2 | |
| | |
David Luebke 42 12/08/21
DFS Example
source
vertex
d f
1 | | |
2 | |
3 | | |
David Luebke 43 12/08/21
DFS Example
source
vertex
d f
1 | | |
2 | |
3 | 4 | |
David Luebke 44 12/08/21
DFS Example
source
vertex
d f
1 | | |
2 | |
3 | 4 5 | |
David Luebke 45 12/08/21
DFS Example
source
vertex
d f
1 | | |
2 | |
3 | 4 5 | 6 |
David Luebke 46 12/08/21
DFS Example
source
vertex
d f
1 | 8 | |
2 | 7 |
3 | 4 5 | 6 |
David Luebke 47 12/08/21
DFS Example
source
vertex
d f
1 | 8 | |
2 | 7 |
3 | 4 5 | 6 |
David Luebke 48 12/08/21
DFS Example
source
vertex
d f
1 | 8 | |
2 | 7 9 |
3 | 4 5 | 6 |
What is the structure of the grey vertices?
What do they represent?
David Luebke 49 12/08/21
DFS Example
source
vertex
d f
1 | 8 | |
2 | 7 9 |10
3 | 4 5 | 6 |
David Luebke 50 12/08/21
DFS Example
source
vertex
d f
1 | 8 |11 |
2 | 7 9 |10
3 | 4 5 | 6 |
David Luebke 51 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 |
2 | 7 9 |10
3 | 4 5 | 6 |
David Luebke 52 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|
2 | 7 9 |10
3 | 4 5 | 6 |
David Luebke 53 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|
2 | 7 9 |10
3 | 4 5 | 6 14|
David Luebke 54 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|
2 | 7 9 |10
3 | 4 5 | 6 14|15
David Luebke 55 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|16
2 | 7 9 |10
3 | 4 5 | 6 14|15
David Luebke 56 12/08/21
DFS: Kinds of edges
● DFS introduces an important distinction
among edges in the original graph:
■ Tree edge: encounter new (white) vertex
○ The tree edges form a spanning forest
○ Can tree edges form cycles? Why or why not?
David Luebke 57 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|16
2 | 7 9 |10
3 | 4 5 | 6 14|15
Tree edges
David Luebke 58 12/08/21
DFS: Kinds of edges
● DFS introduces an important distinction
among edges in the original graph:
■ Tree edge: encounter new (white) vertex
■ Back edge: from descendent to ancestor
○ Encounter a grey vertex (grey to grey)
David Luebke 59 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|16
2 | 7 9 |10
3 | 4 5 | 6 14|15
Tree edges Back edges
David Luebke 60 12/08/21
DFS: Kinds of edges
● DFS introduces an important distinction
among edges in the original graph:
■ Tree edge: encounter new (white) vertex
■ Back edge: from descendent to ancestor
■ Forward edge: from ancestor to descendent
○ Not a tree edge, though
○ From grey node to black node
David Luebke 61 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|16
2 | 7 9 |10
3 | 4 5 | 6 14|15
Tree edges Back edges Forward edges
David Luebke 62 12/08/21
DFS: Kinds of edges
● DFS introduces an important distinction
among edges in the original graph:
■ Tree edge: encounter new (white) vertex
■ Back edge: from descendent to ancestor
■ Forward edge: from ancestor to descendent
■ Cross edge: between a tree or subtrees
○ From a grey node to a black node
David Luebke 63 12/08/21
DFS Example
source
vertex
d f
1 |12 8 |11 13|16
2 | 7 9 |10
3 | 4 5 | 6 14|15
Tree edges Back edges Forward edges Cross edges
David Luebke 64 12/08/21
DFS: Kinds of edges
● DFS introduces an important distinction
among edges in the original graph:
■ Tree edge: encounter new (white) vertex
■ Back edge: from descendent to ancestor
■ Forward edge: from ancestor to descendent
■ Cross edge: between a tree or subtrees
● Note: tree & back edges are important; most
algorithms don’t distinguish forward & cross
David Luebke 65 12/08/21
DFS: Kinds Of Edges
● Thm 23.9: If G is undirected, a DFS produces
only tree and back edges
● Proof by contradiction:
source
■ Assume there’s a forward edge F?
○ But F? edge must actually be a
back edge (why?)
David Luebke 66 12/08/21
DFS: Kinds Of Edges
● Thm 23.9: If G is undirected, a DFS produces only
tree and back edges
● Proof by contradiction:
■ Assume there’s a cross edge source
○ But C? edge cannot be cross:
○ must be explored from one of the
vertices it connects, becoming a tree
vertex, before other vertex is explored
○ So in fact the picture is wrong…both
lower tree edges cannot in fact be
tree edges
C?
David Luebke 67 12/08/21
DFS And Graph Cycles
● Thm: An undirected graph is acyclic iff a DFS yields
no back edges
■ If acyclic, no back edges (because a back edge implies a
cycle
■ If no back edges, acyclic
○ No back edges implies only tree edges (Why?)
○ Only tree edges implies we have a tree or a forest
○ Which by definition is acyclic
● Thus, can run DFS to find whether a graph has a
cycle
David Luebke 68 12/08/21
DFS And Cycles
● How would you modify the code to detect cycles?
DFS(G) DFS_Visit(u)
{ {
for each vertex u G->V u->color = GREY;
time = time+1;
{
u->d = time;
u->color = WHITE;
for each v u->Adj[]
}
{
time = 0;
if (v->color == WHITE)
for each vertex u G->V
DFS_Visit(v);
{
}
if (u->color == WHITE)
u->color = BLACK;
DFS_Visit(u);
time = time+1;
}
u->f = time;
}
}
David Luebke 69 12/08/21
DFS And Cycles
● What will be the running time?
DFS(G) DFS_Visit(u)
{ {
for each vertex u G->V u->color = GREY;
time = time+1;
{
u->d = time;
u->color = WHITE;
for each v u->Adj[]
}
{
time = 0;
if (v->color == WHITE)
for each vertex u G->V
DFS_Visit(v);
{
}
if (u->color == WHITE)
u->color = BLACK;
DFS_Visit(u);
time = time+1;
}
u->f = time;
}
}
David Luebke 70 12/08/21
DFS And Cycles
● What will be the running time?
● A: O(V+E)
● We can actually determine if cycles exist in
O(V) time:
■ In an undirected acyclic forest, |E| |V| - 1
■ So count the edges: if ever see |V| distinct edges,
must have seen a back edge along the way
David Luebke 71 12/08/21
