1. Graphs ORD SFO LAX DFW 1843 802 1743 337 1233 Graphs 1 Graphs Graphs
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Graphs
1843
ORD
SFO
802
1743
337
LAX
1233
DFW
Graphs 1 1

2. Graphs PVD ORD SFO LGA HNL LAX DFW MIA A graph is a pair (V, E), where
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Graphs
A graph is a pair (V, E), where
V is a set of nodes, called vertices, and
E is a collection of pairs of vertices, called edges.
Example:
A vertex represents an airport and stores the three-letter airport code.
An edge represents a flight route between two airports and stores its mileage.
849
PVD
1843
ORD
142
SFO
802
LGA
1743
337
1387
HNL
2555
1099
LAX
1233
DFW
1120
MIA
Graphs 2

3. Edge Types flight AA 1206 ORD PVD 849 miles ORD PVD Directed edge
Graphs
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Edge Types
Directed edge
ordered pair of vertices (u,v)
first vertex u is the origin
second vertex v is the destination
e.g., a flight
Undirected edge
unordered pair of vertices (u,v)
e.g., a flight route
Directed graph
all the edges are directed
Undirected graph
all the edges are undirected
flight
AA 1206
ORD
PVD
849
miles
ORD
PVD
Graphs 3

4. Applications Electronic circuits Transportation networks
Graphs
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Applications
Electronic circuits
Printed circuit board
Integrated circuit
Transportation networks
Highway network
Flight network
Computer networks
Local area network
Internet
Web
Databases
Entity-relationship diagram
Graphs 4

5. Terminology V a b h U d X Z j c e i W g f Y
Graphs
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Terminology
End vertices (or endpoints) of an edge
U and V are the endpoints of a
Edges incident on a vertex
a, d, and b are incident on V
Adjacent vertices
U and V are adjacent
Degree of a vertex
X has degree 5
Parallel edges
h and i are parallel edges
Self-loop
j is a self-loop V a b h U d X Z j c e i W g f Y
Graphs 5

6. Simple Graph V a b h U d X Z c e W g f Y
Graphs
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Simple Graph
No parallel edges or self-loops.
An edge is defined by two vertices.
We will consider simple graphs only from now on. V a b h U d X Z c e W g f Y
Graphs 6

7. Paths V a b P1 d U X Z P2 h c e W g f Y Path: Simple path: Examples:
Graphs
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Paths
Path:
sequence of adjacent vertices.
Simple path:
path with distinct vertices.
Examples:
P1=(V,X,Z) is simple.
P2=(U,W,X,Y,W,V) is not simple. V a b P1 d U X Z P2 h c e W g f Y
Graphs 7

8. Cycles V a b d U X Z C2 h e C1 c W g f Y Cycle: Simple cycle: Examples
Graphs
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Cycles
Cycle:
path with extra edge between first and last vertices.
Simple cycle:
cycle with distinct vertices.
Examples
C1=(V,X,Y,W,U) is simple.
C2=(U,W,X,Y,W,V) is not simple. V a b d U X Z C2 h e C1 c W g f Y
Graphs 8

9. Properties v deg(v) 2m Property 1 Property 2
Graphs
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Properties
Property 1
v deg(v) 2m
Proof: each edge is counted twice.
Property 2
In an undirected graph,
m n (n  1)2
Proof: each vertex has degree at most (n  1).
What is the bound for a directed graph?
Notation
n number of vertices
m number of edges
deg(v) degree of vertex v
Example
n 4
m 6
deg(v) 3
Graphs 9

10. Edge List Representation
Graphs
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Edge List Representation
A vertex stores a value and a list of incident edges.
An edge stores a value and its two incident vertices.
A graph with n vertices and m edges uses O(n+m)
space.
Example: vertex v stores edges a and b, and
edge a stores vertices u and v. u a c b d v w z
Graphs 10

11. Edge List Structure Vertex object Edge object Vertex sequence
Graphs
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Edge List Structure
Vertex object
element
reference to position in vertex sequence
Edge object
origin vertex object
destination vertex object
reference to position in edge sequence
Vertex sequence
sequence of vertex objects
Edge sequence
sequence of edge objects u a c b d v w z u v w z a b c d
Graphs 11

12. Adjacency List Structure
Graphs
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Adjacency List Structure a v b
Edge list structure
Incidence sequence for each vertex
sequence of references to edge objects of incident edges
Augmented edge objects
references to associated positions in incidence sequences of end vertices u w u v w a b
Graphs 12

13. Adjacency Matrix Rep. Vertices are indexed.
Graphs
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Adjacency Matrix Rep.
Vertices are indexed.
M[i,j]=1 if vertices i and j are adjacent and 0 if not.
Space is O(n2). 1 2  a v b 1 u w 2
Graphs 13

14. Subgraphs A subgraph S of a graph G is a graph such that:
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Subgraphs
A subgraph S of a graph G is a graph such that:
The vertices of S are a subset of the vertices of G.
The edges of S are a subset of the edges of G.
A spanning subgraph of G is a subgraph that contains all the vertices of G.
Subgraph
Spanning subgraph
Depth-First Search 14

15. Non connected graph with two connected components
Graphs
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Connectivity
A graph is connected if there is a path between each pair of vertices.
A connected component of a graph G is a maximal connected subgraph of G.
Connected graph
Non connected graph with two connected components
Depth-First Search 15

16. Trees and Forests A tree is an undirected graph T such that
Graphs
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Trees and Forests
A tree is an undirected graph T such that
T is connected, and
T has no cycles.
This definition of tree is different from the one of a rooted tree.
A forest is an undirected graph without cycles.
The connected components of a forest are trees.
Tree
Forest
Depth-First Search 16

17. Spanning Trees and Forests
Graphs
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Spanning Trees and Forests
A spanning tree of a connected graph is a spanning subgraph that is a tree.
A spanning tree is not unique unless the graph is a tree.
Spanning trees have applications to the design of communication networks.
A spanning forest of a graph is a spanning subgraph that is a forest.
Graph
Spanning tree
Depth-First Search 17

18. Graphs
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Depth-First Search
Depth-first search (DFS) is a technique for traversing a graph.
A DFS traversal of a graph G:
Visits all the vertices and edges of G.
Determines whether G is connected.
Computes the connected components of G.
Computes a spanning forest of G.
DFS on a graph with n vertices and m edges takes O(nm ) time.
DFS can be further extended to solve other graph problems.
Find and report a path between two vertices.
Find a cycle in the graph.
Depth-First Search 18

19. Graphs
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DFS Algorithm
The algorithm uses a mechanism for setting and getting “labels” of vertices and edges
Algorithm DFS(G, v)
Input graph G and a start vertex v of G
Output labeling of the edges of G in the connected component of v as discovery edges and back edges
v.setLabel(VISITED)
for all e  G.incidentEdges(v)
if e.getLabel() UNEXPLORED
w  e.opposite(v)
if w.getLabel() UNEXPLORED
e.setLabel(DISCOVERY)
DFS(G, w)
else
e.setLabel(BACK)
Algorithm DFS(G)
Input graph G
Output labeling of the edges of G as discovery edges and back edges
for all u  G.vertices()
u.setLabel(UNEXPLORED)
for all e  G.edges()
e.setLabel(UNEXPLORED)
for all v  G.vertices()
if v.getLabel() UNEXPLORED
DFS(G, v)
Depth-First Search 19

20. Example unexplored vertex visited vertex unexplored edge
Graphs
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Example
unexplored vertex D B A C E A A
visited vertex
unexplored edge
discovery edge
back edge D B A C E D B A C E
Depth-First Search 20

21. Example (cont.) D B A C E D B A C E D B A C E D B A C E
Graphs
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Example (cont.) D B A C E D B A C E D B A C E D B A C E
Depth-First Search 21

22. Properties of DFS Property 1 Property 2
Graphs
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Properties of DFS
Property 1
DFS(G, v) visits all the vertices and edges in the connected component of v.
Property 2
The discovery edges labeled by DFS(G, v) form a spanning tree of the connected component of v. D B A C E
Depth-First Search 22

23. Analysis of DFS Setting/getting a vertex/edge label takes O(1) time.
Graphs
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Analysis of DFS
Setting/getting a vertex/edge label takes O(1) time.
Each vertex is labeled twice:
once as UNEXPLORED, and
once as VISITED.
Each edge is labeled twice:
once as DISCOVERY or BACK.
DFS runs in O(n  m) time provided the graph is represented by the adjacency list structure.
Recall that v deg(v) 2m
Depth-First Search 23

24. Graphs
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Breadth-First Search
Breadth-first search (BFS) is another technique for traversing a graph.
A BFS traversal of a graph G:
Visits all the vertices and edges of G.
Determines whether G is connected.
Computes the connected components of G.
Computes a spanning forest of G.
BFS on a graph with n vertices and m edges takes O(nm ) time.
BFS can be extended to solve other graph problems.
Find and report a path with the minimum number of edges between two given vertices.
Find a simple cycle, if there is one.
Breadth-First Search 24

25. BFS Algorithm Algorithm BFS(G, s)
Graphs
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BFS Algorithm
Algorithm BFS(G, s)
L0  new empty sequence
L0.insertBack(s)
s.setLabel(VISITED)
i  0
while Li.empty()
Li 1  new empty sequence
for all v  Li.elements() for all e  v.incidentEdges()
if e.getLabel() UNEXPLORED
w  e.opposite(v)
if w.getLabel() UNEXPLORED
e.setLabel(DISCOVERY)
w.setLabel(VISITED)
Li 1.insertBack(w)
else
e.setLabel(CROSS)
i  i 1
The algorithm uses a mechanism for setting and getting “labels” of vertices and edges
Algorithm BFS(G)
Input graph G
Output labeling of the edges and partition of the vertices of G
for all u  G.vertices()
u.setLabel(UNEXPLORED)
for all e  G.edges()
e.setLabel(UNEXPLORED)
for all v  G.vertices()
if v.getLabel() UNEXPLORED
BFS(G, v)
Breadth-First Search 25

26. Example unexplored vertex visited vertex unexplored edge
Graphs
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Example C B A E D L0 L1 F A
unexplored vertex A
visited vertex
unexplored edge
discovery edge
cross edge L0 L0 A A L1 L1 B C D B C D E F E F
Breadth-First Search 26

27. Example (cont.) L0 L1 L0 L1 L2 L0 L1 L2 L0 L1 L2 C B A E D F C B A E D
Graphs
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Example (cont.) C B A E D L0 L1 F C B A E D L0 L1 F L2 C B A E D L0 L1 F L2 C B A E D L0 L1 F L2
Breadth-First Search 27

28. Example (cont.) L0 L1 L2 L0 L1 L2 L0 L1 L2 C B A E D F A B C D E F C B
Graphs
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Example (cont.) C B A E D L0 L1 F L2 L0 A L1 B C D L2 E F C B A E D L0 L1 F L2
Breadth-First Search 28

29. Properties Notation Property 1 Property 2 Property 3
Graphs
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Properties
Notation
Gs: connected component of s
Property 1
BFS(G, s) visits all the vertices and edges of Gs
Property 2
The discovery edges labeled by BFS(G, s) form a spanning tree Ts of Gs
Property 3
For each vertex v in Li
The path of Ts from s to v has i edges
Every path from s to v in Gs has at least i edges A B C D E F L0 A L1 B C D L2 E F
Breadth-First Search 29

30. Analysis Setting/getting a vertex/edge label takes O(1) time.
Graphs
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Analysis
Setting/getting a vertex/edge label takes O(1) time.
Each vertex is labeled twice:
once as UNEXPLORED, and
once as VISITED.
Each edge is labeled twice:
once as DISCOVERY or CROSS.
Each vertex is inserted once into a sequence Li
Method incidentEdges is called once for each vertex.
BFS runs in O(n  m) time provided the graph is represented by the adjacency list structure.
Recall that v deg(v) 2m
Breadth-First Search 30

31. Graphs
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Applications
We can specialize BFS traversal of a graph G to solve these problems in O(n  m) time.
Compute the connected components of G.
Compute a spanning forest of G.
Find a simple cycle in G, or report that G is a forest.
Given two vertices of G, find a path in G between them with the minimum number of edges, or report that no such path exists.
Breadth-First Search 31

32. DFS vs. BFS Applications DFS BFS DFS BFS
Graphs
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DFS vs. BFS
Applications
DFS
BFS
Spanning forest, connected components, paths, cycles 
Shortest paths
Biconnected components C B A E D L0 L1 F L2 A B C D E F
DFS
BFS
Breadth-First Search 32

33. DFS vs. BFS (cont.) Back edge (v,w) Cross edge (v,w) DFS BFS
Graphs
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DFS vs. BFS (cont.)
Back edge (v,w)
w is an ancestor of v in the tree of discovery edges
Cross edge (v,w)
w is in the same level as v or in the next level C B A E D L0 L1 F L2 A B C D E F
DFS
BFS
Breadth-First Search 33