Graph Terminology

Introduction to Algorithms
„ A graph G = (V, E)
‰ V = set of vertices
‰ E = set of edges

„ In an undirected graph:
‰ edge(u, v) = edge(v, u)

„ In a directed graph:
‰ edge(u,v) goes from vertex u to vertex v, notated u →
v
Chapter 22: Elementary Graph ‰ edge(u, v) is not the same as edge(v, u)
Algorithms
2

Graph Terminology Graph Terminology

A A
„ Adjacent vertices: connected by an edge
‰ Vertex v is adjacent to u if and only if (u, v) ∈ E.
B C B C
‰ I an undirected
In di t d graph h with d (u, v),
ith edge ) andd
hence (v, u), v is adjacent to u and u is adjacent
to v.
D D
a b a b

Directed graph: Undirected graph: c c

d e d e
V = {A, B, C, D} V = {A, B, C, D}
E = {(A,B), (A,C), (A,D), (C,B)} E = {(A,B), (A,C), (A,D), (C,B), Vertex a is adjacent to c and Vertex c is adjacent to a, but
(B,A), (C,A), (D,A), (B,C)} vertex c is adjacent to a vertex a is NOT adjacent to c

3 4
Graph Terminology Graph Terminology
„ Loops
„ A Path in a graph from u to v is a sequence of edges
b
between vertices
i w0, w1, …, wk, such h (wi, wi+1) ∈ E,
h that ‰ If the graph contains an edge (v, v) from a vertex to itself,
itself
then the path v, v is sometimes referred to as a loop.
u = w0 and v = wk, for 0 ≤ i < k a b
‰ The length of the path is k, the number of edges on
the path c

d e
a b a b

‰ The graphs we will consider will generally be loopless.

c c

d e d e „ A simple path is a path such that all vertices are distinct, except that the first
and last could be the same.
abedce is a path. acde is a path.
cdeb is a path.
path abec
b isi NOT a path.
th a b
bca is NOT a path.
c abedc is a simple path.
cdec is a simple path.
d e abedce is NOT a simple path.

5 6

Graph Terminology Graph

p Terminology
gy
„ Cycles
‰ A cycle in a directed graph is a path of length at least 2
„ simple path: no repeated vertices such that the first vertex on the path is the same as the
last one; if the path is simple, then the cycle is a simple
cycle.
a b
abeda is a simple cycle.
c abeceda is a cycle, but is NOT a simple cycle.
abedc is NOT a cycle.
cycle
d e

‰ A cycle in a undirected graph

„ A path
th off length
l th att least
l t 3 such
h th
thatt th
the first
fi t vertex
t on the
th path
th
is the same as the last one.
„ The edges on the path are distinct.
a b aba is NOT a cycle.
abedceda is NOT a cycle.
c abedcea is a cycle, but NOT simple.
abea is a simple cycle.
cycle
d e

7 8
Graph
p Terminology
gy Graph Terminology
„ If each edge in the graph carries a value, then the graph is
called weighted graph.
„ Complete Undirected Graph
‰ A weighted graph is a graph G = (V, E, W), where each ‰ has all possible edges
edge, e ∈ E is assigned a real valued weight, W(e).
„ A complete graph is a graph with an edge between every
pair of vertices.
‰ A graph ll d complete
h iis called l t graphh if every vertex
t isi
adjacent to every other vertex.

n=1 n=2 n=3 n=4

10

Graph
p Terminology
gy Graph Terminology
„ connected graph: any two „ tree - connected graph without cycles
vertices are connected by
some path
‰ An undirected graph is
„ forest - collection of trees
connected if, for every
pair of vertices u and v
p
there is a path from u to
v.

12
Graph Terminology Graph
p Terminology
gy
„ End vertices (or endpoints) of an edge a
‰ U and V are the endpoints
p of a

„ Edges incident on a vertex V

‰ a, d, and b are incident on V V
a b
h j
„ Adjacent vertices
‰ U and V are adjacent U d X Z
c e i
„ Degree of a vertex X
‰ X has degree 5 W g
„ Parallel edges f
‰ h and d i are parallel
ll l edges
d Y

„ Self-loop
‰ j is a self-loop

13 14

Graph
p Terminology
gy Graph
p Terminology
gy
„ Path „ Cycle
‰ sequence of alternating ‰ circular sequence of
vertices and edges alternating vertices and edges
‰ begins with a vertex
ends with a vertex
‰
V „ Simple cycle V
a b ‰ cycle such that all its vertices
a b
„ Simple path P1 and edges are distinct
‰ path such that all its vertices U d X Z U d X Z
and edges are distinct. P2 h Examples C2 h
„ Examples c e
„
e C1
‰ C1 = (V, X, Y, W, U, V) is a c
‰ P1 = (V,
(V XX, Z) is
i a simple
i l path.th W g simple cycle W g
‰ P2 = (U, W, X, Y, W, V) is a
‰ C2 = (U, W, X, Y, W, V, U) is a
path that is not simple. f cycle that is not simple f
Y Y

15 16
In-Degree of a Vertex Out-Degree of a Vertex
„ in degree is number of incoming edges
in-degree „ out degree is number of outbound edges
out-degree
‰ indegree(2) = 1, indegree(8) = 0 ‰ outdegree(2) = 1, outdegree(8) = 2
2 2
3 3
8 8
1 10 1 10
4 4
5 5
9 9
11 11

6 6
7 7
17 18

Applications:
pp Communication Driving Distance/Time Map
Network „ vertex
e e = ccity,
y,
„ vertex = city, edge = communication link
„ edge weight = distance/time
2
3 2
4 3
8
1 8 8
10
1 6 10
4 2 4 5
5 4 4 3
9 5
11 9
11
5 6

6
7 6 7
7

19 20
Street Map
p Computer Networks
„ Some streets are one way
„ A bidirectional link represented
p by
y 2 directed „ Electronic
ect o c circuits
c cu ts cslab1a cslab1b

edge ‰ Printed circuit board

math.brown.edu
‰ (5, 9) (9, 5)
2 cs.brown.edu
3 „ Computer networks
8 ‰ Local area network
brown.edu
1 10 ‰ Internet qwest.net
att.net
4 ‰ Web
5
9
11
cox.net
John

Paul
6 David
7

21 22

Graphs Graph Search Methods

„ We will typically
y y express running
g times in „ Many graph problems solved using a search
terms of method
‰ |V| = number of vertices, and ƒ Path from one vertex to another
‰ |E| = number of edges ƒ Is the graph connected?
‰ If |E| ≈ |V|2 the graph is dense ƒ etc.
‰ If |E| ≈ |V| the graph is sparse

„ Commonly used search methods:

„ If y
you know yyou are dealing
g with dense or ƒ Breadth-first
Breadth first search
sparse graphs, different data structures may ƒ Depth-first search
make sense
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Graph Search Methods Breadth-First Search
„ A vertex u is reachable from vertex v iff there is „ Visit start vertex (s) and put into a FIFO
a path from v to u.
„ A search method starts at a given vertex v and
queue.
visits everyy vertex that is reachable from v.
2
3
„ Repeatedly remove a vertex from the queue,
8 visit its unvisited adjacent vertices,
vertices put newly
1
visited vertices into the queue.
4
5
9
10 „ All vertices reachable from the start vertex
(s) (including the start vertex) are visited.
6
7 11
25 26

Breadth-First Search Breadth-First Search

BFS(G, s) {
„ Again
g will associate vertex “colors” to g
guide 1
// initialize vertices;
for each u ∈ V(G) – {s}{
the algorithm 2
3
do color[u] = WHITE
d[u] = ∞ // distance from s to u
4 p[u] = NIL // predecessor or parent of u
‰ White vertices have not been discovered }
5 color[s] = GREEN
„ All vertices start out white 6 d[s] = 0
7 p[s] = NIL
‰ Green vertices are discovered but not fully 8 Q = Empty;
9 Enqueue (Q,s); // Q is a queue; initialize to s
explored 10 while (Q not empty) {
11 u = Dequeue(Q);
„ They
y may
y be adjacent
j to white vertices 12 for each v ∈ adj[u] {
13 if (color[v] == WHITE)
‰ Black vertices are discovered and fully explored 14 color[v] = GREEN; What does d[v] represent?
15 d[v] = d[u] + 1;
„ They are adjacent only to black and green vertices 16 p[v] = u; What does p[
p[v]] represent?
p
17 Enqueue(Q, v);
„ Explore vertices by scanning adjacency list of }
18 color[u] = BLACK;
green vertices }
}

27 28
Breadth-First Search Breadth-First Search
„ Prior to the first iteration in line 10, the only green vertex,
„ Lines 1 1-4
4 paint every vertex white, set d[u] to be and the only vertex in Q Q, is the source vertex (s)
(s).
infinity for each vertex (u), and set p[u] the
parent of every vertex to be NIL. „ Line 11 determines the green vertex (u) at the head of the
queue Q and removes it from Q.
q
„ Line 5 paints the source vertex (s) green green.
„ Line 6 initializes d[s] to 0. „ The for loop of lines 12-17 considers each vertex (v) in the
adjacency list of (u).
„ Line 7 sets the parent of the source to be NIL.
„ If (v) is white, then it has not yet been discovered, and the
„ Lines 8-9 initialize Q to the queue containing just algorithm discovers it by executing lines 14-17.
the vertex (s).
‰ It is first greened
greened, and its distance d[v] is set to d[u]+1
d[u]+1.
„ Th while
The hil loop
l off lines
li 10 18 iterates
10-18 it t as longl as
there remain green vertices, which are ‰ Then, u is recorded as its parent.
discovered vertices that have not y yet had their ‰ Finally,
Finally it is placed at the tail of the queue QQ.
adjacency
dj lilists
t ffully
ll examined.
i d
‰ This while loop maintains the test in line 10, the queue „ When all the vertices on (u’s) adjacency list have been
Q consists of the set of the green vertices. examined, u is blackened in line 18.

29 30

Breadth-First Search: Example Breadth-First Search: Example

r s t u r s t u

∞ ∞ ∞ ∞ ∞ 0 ∞ ∞

∞ ∞ ∞ ∞ ∞ ∞ ∞ ∞
v w x y v w x y

Q: s

31 32
Breadth-First Search: Example Breadth-First Search: Example
r s t u r s t u

1 0 ∞ ∞ 1 0 2 ∞

∞ 1 ∞ ∞ ∞ 1 2 ∞
v w x y v w x y

Q: w r Q: r t x

33 34

Breadth-First Search: Example Breadth-First Search: Example

r s t u r s t u

1 0 2 ∞ 1 0 2 3

2 1 2 ∞ 2 1 2 ∞
v w x y v w x y

Q: t x v Q: x v u

35 36
Breadth-First Search: Example Breadth-First Search: Example
r s t u r s t u

1 0 2 3 1 0 2 3

2 1 2 3 2 1 2 3
v w x y v w x y

Q: v u y Q: u y

37 38

Breadth-First Search: Example Breadth-First Search: Example

r s t u r s t u

1 0 2 3 1 0 2 3

2 1 2 3 2 1 2 3
v w x y v w x y

Q: y Q: Ø

39 40
 Depth-First Search Depth-First Search
„ Depth-first
ep s search
sea c iss another
a o e sstrategy
a egy for
o „ Initialize
‰ color all vertices white
exploring a graph
„ Visit each and every white vertex using DFS-
‰ Explore “deeper”
deeper in the graph whenever possible
Vi i
Visit
„ Each call to DFS-Visit(u) roots a new tree of
‰ Edges are explored
Ed l d outt off th
the mostt recently
tl th d
the depth-first
th fi t forest
f t u
t att vertex
discovered vertex v that still has unexplored „ A vertex is white if it is undiscovered
edges
„ A vertex is green if it has been discovered but
not all of its edges have been discovered
‰ When allll off v’s
Wh ’ edges
d h
have b
been explored,
l d „ A vertex is black after all of its adjacent vertices
backtrack to the vertex from which v was have been discovered (the adj. list was
discovered examined
i d completely)
l t l )
41 42

DFS Example DFS Example

source source Discovery Finishing
Fi i hi
time
vertex vertex time
d f
1 | | |

| |

| | |

43 44
 DFS Example DFS Example
source source
vertex vertex
d f d f
1 | | | 1 | | |

2 | | 2 | |

| | | 3 | | |

45 46

DFS Example DFS Example

source source
vertex vertex
d f d f
1 | | | 1 | | |

2 | | 2 | |

3 | 4 | | 3 | 4 5 | |

47 48
 DFS Example DFS Example
source source
vertex vertex
d f d f
1 | | | 1 | | |

2 | | 2 | 7 |

3 | 4 5 | 6 | 3 | 4 5 | 6 |

49 50

DFS Example DFS Example

source source
vertex vertex
d f d f
1 | 8 | | 1 | 8 | |

2 | 7 | 2 | 7 9 |

3 | 4 5 | 6 | 3 | 4 5 | 6 |

51 52
 DFS Example DFS Example
source source
vertex vertex
d f d f
1 | 8 | | 1 | 8 |11 |

2 | 7 9 |10 2 | 7 9 |10

3 | 4 5 | 6 | 3 | 4 5 | 6 |

53 54

DFS Example DFS Example

source source
vertex vertex
d f d f
1 |12 8 |11 | 1 |12 8 |11 13|

2 | 7 9 |10 2 | 7 9 |10

3 | 4 5 | 6 | 3 | 4 5 | 6 |

55 56
 DFS Example DFS Example
source source
vertex vertex
d f d f
1 |12 8 |11 13| 1 |12 8 |11 13|

2 | 7 9 |10 2 | 7 9 |10

3 | 4 5 | 6 14| 3 | 4 5 | 6 14|15

57 58

DFS Example DFS Example

source
u v w u v w u v w
vertex
d f 1/ 1/ 2/ 1/ 2/

1 |12 8 |11 13|16 3/

x y z x y z x y z

2 | 7 9 |10 u v w u v w u v w
1/ 2/ 1/ 2/ 1/ 2/
B B
4/ 3/ 4/ 3/ 4/5 3/
3 | 4 5 | 6 14|15 x y z x y z x y z

59 60
DFS Example DFS Example
u v w u v w u v w u v w u v w u v w
1/ 2/ 1/ 2/7 1/ 2/7 1/8 2/7 9/ 1/8 2/7 9/ 1/8 2/7 9/
B C B C B C
B B F B F F F
4/5 3/6 4/5 3/6 4/5 3/6 4/5 3/6 10/ 4/5 3/6 10/ B 4/5 3/6 10/11 B
x y z x y z x y z x y z x y z x y z

u v w
u v w u v w u v w
1/8 2/7 9/12
1/8 2/7 1/8 2/7 9/ 1/8 2/7 9/ B C
B B B C F
F F F
4/5 3/6 10/11 B
4/5 3/6 4/5 3/6 4/5 3/6
x y z
x y z x y z x y z

61 62