CS 170

DISCUSSION 4
GRAPHS AND PATHS

Raymond Chan
UC Berkeley Fall 17
 DEPTH FIRST SEARCH

• Explore all and only nodes reachable from current node.

recursive_DFS (G, v): iterative_DFS (G, v):

previsit(v) stack.push(v)
mark v as visited while stack not empty:
for all v’s neighbors w: v = pop from stack
if vertex w has not been visited: if v not visited
recursive_DFS (G, w) mark v as visited:
postvisit(v) for all v’s neighbors w:
push vertex w to stack
• Visits all vertices once. Uses all edges once.

• O(|V| + |E|)

Raymond Chan, UC Berkeley Fall 2017

 DEPTH FIRST SEARCH

• From last discussion

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D
I
T T
T
B T T (8, 19)
G H F J

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT

• Previsit() and Postvisit() increments a global count

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D
I
T T
T
B T T (8, 19)
G H F J

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• If (u, v) is an edge in an indirect graph and during DFS, post(v) <

post(u), then u is an ancestor of v in the DFS tree.

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• If (u, v) is an edge in an indirect graph and during DFS, post(v) <

post(u), then u is an ancestor of v in the DFS tree.

• 2 cases (since pre < post):

• pre(u) < pre(v) < post(v) < post(u)

• u is an ancestor v. Explore u’s neighbors before postvisiting u

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• If (u, v) is an edge in an indirect graph and during DFS, post(v) < post(u),
then u is an ancestor of v in the DFS tree.

• 2 cases (since pre < post):

• pre(u) < pre(v) < post(v) < post(u)

• u is an ancestor v. Explore u’s neighbors before postvisiting u

• pre(v) < post(v) < pre(u) < post(u)

• Looks at all of v’s neighbors before looking at u.

• Contradiction since there is an edge.

• True

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT

• For any two nodes, u, v, [pre(u), post(u)] and [pre(v), post(v)] are
either disjoint or one is contained in the other.

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D
I
T T
T
B T T (8, 19)
G H F J

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In a directed graph, if there is a path from u to v and pre(u) <

pre(v) then u is an ancestor of v in the DFS tree.

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In a directed graph, if there is a path from u to v and pre(u) <

pre(v) then u is an ancestor of v in the DFS tree.

• Consider the case when u and v are a common ancestor’s direct

children.
(1, 6) T (4, 5)

w v
T

u B

(2, 3)

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In a directed graph, if there is a path from u to v and pre(u) < pre(v) then
u is an ancestor of v in the DFS tree.

• Consider the case when u and v are a common ancestor’s direct children.

(1, 6) T (4, 5)

w v
T

u B

(2, 3)
• u gets visited first via w, who then visits v.

• Need information about post visit number

• False

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In any connected undirected graph G, there is a vertex whose

removal leaves G connected.

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In any connected undirected graph G, there is a vertex whose

removal leaves G connected.

• True

Raymond Chan, UC Berkeley Fall 2017

 PREVISIT & POSTVISIT T/F

• In any connected indirect graph G, there is a vertex whose

removal leaves G connected.

• True

• Removing any leaf from a DFS tree of the graph.

• These leaves have only one neighbor, otherwise they won’t be

leaves.

• Neighbor is connected to at least one other node.

Raymond Chan, UC Berkeley Fall 2017

 DEPTH FIRST SEARCH

• Tree edge (u, v): part of DFS

• pre(u) < pre(v) < post(v) < post(u)

(1, 6)
root
T A
T C (7, 20)
(2, 3)
ancestor to F, J, D, …
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18 child of C,

child of F,
parent of J
descendant of C

Raymond Chan, UC Berkeley Fall 2017

 DEPTH FIRST SEARCH

• Forward edge (u, v): leads non-child descendant

• pre(u) < pre(v) < post(v) < post(u)

(1, 6)
root
T A
T C (7, 20)
(2, 3)
ancestor to F, J, D, …
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18 child of C,

child of F,
parent of J
descendant of C

Raymond Chan, UC Berkeley Fall 2017

 DEPTH FIRST SEARCH

• Cross edge (u, v): leads neither defendant nor ancestor

• pre(v) < post(v) < pre(u) < post(u)

(1, 6)
root
T A
T C (7, 20)
(2, 3)
ancestor to F, J, D, …
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18 child of C,

child of F,
parent of J
descendant of C

Raymond Chan, UC Berkeley Fall 2017

 DEPTH FIRST SEARCH

• Back edge (u, v): leads to ancestor

• pre(v) < pre(u) < post(u) < post(v)

(1, 6)
root
T A
T C (7, 20)
(2, 3)
ancestor to F, J, D, …
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18 child of C,

child of F,
parent of J
descendant of C

Raymond Chan, UC Berkeley Fall 2017

 CYCLE DETECTION

• There is a cycle if and only if there is a back edge.

• Run DFS.

(1, 6)
root
T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 STRONGLY CONNECTED COMPONENTS

• Nodes u and v are strongly connected if there is a path from u to

v and there is a path from v to u.

• Strongly connected components are a set of nodes that are

strongly connected.

• Can visit every other node in the set.

• Only applies to directed graphs.

• Single case: single node.

Raymond Chan, UC Berkeley Fall 2017

 STRONGLY CONNECTED COMPONENTS

• Find the strongly connected components.

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 STRONGLY CONNECTED COMPONENTS

• Find the strongly connected components.

• {A}, {B}, {E}, {C, F, J, D}, {G, I, H}

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 STRONGLY CONNECTED COMPONENTS

• Visualize it

• https://www.cs.usfca.edu/~galles/JavascriptVisual/
ConnectedComponent.html
(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 TOPOLOGICAL SORT

• Source and Sink in a Directed Acyclic Graph (DAG)

• Source:

• Node has no incoming edges

• Highest post order number

• First nodes in topological ordering

• Sink

• No outgoing edges

• Lowest post oder number

• Last nodes in topological ordering

• Every DAG has at least one source and one sink

Raymond Chan, UC Berkeley Fall 2017

 TOPOLOGICAL SORT

• Ordering of a directed graph’s nodes v1, v2, … vn such that for

every edge (vi, vj), i < j.

• Edge arrows go one direction.

• Application: scheduling jobs if order is required.

Raymond Chan, UC Berkeley Fall 2017

 TOPOLOGICAL SORT

• Sort the Strongly Connected Components into a DAG

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 TOPOLOGICAL SORT

• Sort the Strongly Connected Components into a DAG

• {A}, {B}, {E}, {C, F, J, D}, {G, I, H}

(1, 6)

T A
T C (7, 20)
(2, 3)
B E C
(4, 5)
B
C C
C T
(13, 16) (10,11) D F
I
T T
T
B T T (8, 19)
G H J F

(14, 15) (12, 17) 9, 18

Raymond Chan, UC Berkeley Fall 2017

 TOPOLOGICAL SORT

• {A}, {B}, {E}, {C, F, J, D}, {G, I, H}

B E C

D
I

G H J F

C, D, G, J G, H, I A B E

Raymond Chan, UC Berkeley Fall 2017

 ALGORITHMS

SCC(G): Linearize (G, v):

Reverse edges of graph -> GR push all sources to v
DFS on GR while stack not empty:
Run DFS on G in reverse post v = pop from stack
order number from GR for all v’s neighbors w:
remove edge (v, w)
• Reverse graph prevents crossing if w becomes a sources:
SCCs push vertex w to stack
Add v to result
• Tarjan’s SCC algorithm

Sort by reverse post order number

Raymond Chan, UC Berkeley Fall 2017

 BREADTH FIRST SEARCH

• Explore node u’s neighbors, then all vertices that are adjacent to
u’s neighbors, and so on.

• Can keep distance values to find how many edges a node is away
from the root.
iterative_BFF (G, v):
• Visits all vertices once. d[v] = 0
queue.enqueue(v)
while queue not empty:
• Uses all edges once. v = pop from queue
for all v’s neighbors w:
• O(|V| + |E|) if w not visited
mark w as visited:
d[w] = d[v] + 1
queue.enqueue(w)

Raymond Chan, UC Berkeley Fall 2017

 DIJKSTRA’S SHORTEST PATH

• Find shortest path from s to all other vertices.

• Once we have computed the shortest path for a vertex, we don’t

revisit it again.

dijkstra (G, s):

d[v] = infinity
d[s] = 0
prev[s] = s
PQ.add(G.V, infinity)
PQ.add(s,0)
while PQ not empty:
u = PQ.DeleteMin()
for edge (u, v):
if d[v] > d[u] + w(u, v):
d[v] = d[u] + w[u, v]
prev[v] = u
PQ.DecreaseKey(v, d[v])
Raymond Chan, UC Berkeley Fall 2017
 DIJKSTRA’S SHORTEST PATH
• Keep fringe vertices.

• Look at neighbors and update distance if there is a better path.

• When we pop off a node from Priority Queue, the distance is the
shortest path from s to this node so far.
dijkstra (G, s):
d[v] = infinity
d[s] = 0
prev[s] = s
PQ.add(G.V, infinity)
PQ.add(s,0)
while PQ not empty:
u = PQ.DeleteMin()
for edge (u, v):
if d[v] > d[u] + w(u, v):
d[v] = d[u] + w[u, v]
prev[v] = u
PQ.DecreaseKey(v, d[v])
Raymond Chan, UC Berkeley Fall 2017
 DIJKSTRA’S SHORTEST PATH
Demo
dijkstra (G, s):
d[v] = infinity
d[s] = 0
prev[s] = s
PQ.add(G.V, infinity)
PQ.add(s,0)
while PQ not empty:
u = PQ.DeleteMin()
for edge (u, v):
if d[v] > d[u] + w(u, v):
d[v] = d[u] + w[u, v]
prev[v] = u
PQ.DecreaseKey(v, d[v])

O(|V|) * DeleteMin + O(|E|)*DecreaseKey

Typically use binary heap for priority queue
O(|V|+|E|) * log(|V|)

Raymond Chan, UC Berkeley Fall 2017

NEGATIVE EDGE WEIGHTS
A
1
0
2
S B
-3

3
C

dijkstra (G, s):

d[v] = infinity
d[s] = 0
prev[s] = s
PQ.add(G.V, infinity)
PQ.add(s,0)
while PQ not empty:
u = PQ.DeleteMin()
for edge (u, v):
if d[v] > d[u] + w(u, v):
d[v] = d[u] + w[u, v]
prev[v] = u
PQ.DecreaseKey(v, d[v])
Raymond Chan, UC Berkeley Fall 2017
 NEGATIVE EDGE WEIGHTS
A
1
Start at S
0
Process A. d[a] = 1 2
Process B. d[b] = 2 S B
-3
Process C. d[c] = 3
3
Process A. d[a] = 1. C
Process B. d[b] = 2. d[a] = 1
dijkstra (G, s):
Process C. d[c] = 3. d[b] = 0 d[v] = infinity
New distance for B, but B not in PQ d[s] = 0
prev[s] = s
PQ.add(G.V, infinity)
PQ.add(s,0)
while PQ not empty:
u = PQ.DeleteMin()
for edge (u, v):
if d[v] > d[u] + w(u, v):
d[v] = d[u] + w[u, v]
prev[v] = u
PQ.DecreaseKey(v, d[v])
Raymond Chan, UC Berkeley Fall 2017