I have Graph with N nodes and edges with cost. (graph may be Complete but also can contain zero edges).
I want to find K trees in the graph (K < N) to ensure every node is visited and cost is the lowest possible.
Any recommendations what the best approach could be?
I tried to modify the problem to finding just single minimal spanning tree, but didn't succeeded.
Thank you for any hint!
EDIT
little detail, which can be significant. To cost is not related to crossing the edge. The cost is the price to BUILD such edge. Once edge is built, you can traverse it forward and backwards with no cost. The problem is not to "ride along all nodes", the problem is about "creating a net among all nodes". I am sorry for previous explanation
The story
Here is the story i have heard and trying to solve.
There is a city, without connection to electricity. Electrical company is able to connect just K houses with electricity. The other houses can be connected by dropping cables from already connected houses. But dropping this cable cost something. The goal is to choose which K houses will be connected directly to power plant and which houses will be connected with separate cables to ensure minimal cable cost and all houses coverage :)
As others have mentioned, this is NP hard. However, if you're willing to accept a good solution, you could use simulated annealing. For example, the traveling salesman problem is NP hard, yet near-optimal solutions can be found using simulated annealing, e.g. http://www.codeproject.com/Articles/26758/Simulated-Annealing-Solving-the-Travelling-Salesma
You are describing something like a cardinality constrained path cover. It's in the Traveling Salesman/ Vehicle routing family of problems and is NP-Hard. To create an algorithm you should ask
Are you only going to run it on small graphs.
Are you only going to run it on special cases of graphs which do have exact algorithms.
Can you live with a heuristic that solves the problem approximately.
Assume you can find a minimum spanning tree in O(V^2) using prim's algorithm.
For each vertex, find the minimum spanning tree with that vertex as the root.
This will be O(V^3) as you run the algorithm V times.
Sort these by total mass (sum of weights of their vertices) of the graph. This is O(V^2 lg V) which is consumed by the O(V^3) so essentially free in terms of order complexity.
Take the X least massive graphs - the roots of these are your "anchors" that are connected directly to the grid, as they are mostly likely to have the shortest paths. To determine which route it takes, you simply follow the path to root in each node in each tree and wire up whatever is the shortest. (This may be further optimized by sorting all paths to root and using only the shortest ones first. This will allow for optimizations on the next iterations. Finding path to root is O(V). Finding it for all V X times is O(V^2 * X). Because you would be doing this for every V, you're looking at O(V^3 * X). This is more than your biggest complexity, but I think the average case on these will be small, even if their worst case is large).
I cannot prove that this is the optimal solution. In fact, I am certain it is not. But when you consider an electrical grid of 100,000 homes, you can not consider (with any practical application) an NP hard solution. This gives you a very good solution in O(V^3 * X), which I imagine is going to give you a solution very close to optimal.
Looking at your story, I think that what you call a path can be a tree, which means that we don't have to worry about Hamiltonian circuits.
Looking at the proof of correctness of Prim's algorithm at http://en.wikipedia.org/wiki/Prim%27s_algorithm, consider taking a minimum spanning tree and removing the most expensive X-1 links. I think the proof there shows that the result has the same cost as the best possible answer to your problem: the only difference is that when you compare edges, you may find that the new edge join two separated components, but in this case you can maintain the number of separated components by removing an edge with cost at most that of the new edge.
So I think an answer for your problem is to take a minimum spanning tree and remove the X-1 most expensive links. This is certainly the case for X=1!
Here is attempt at solving this...
For X=1 I can calculate minimal spanning tree (MST) with Prim's algorithm from each node (this node is the only one connected to the grid) and select the one with the lowest overall cost
For X=2 I create extra node (Power plant node) beside my graph. I connect it with random node (eg. N0) by edge with cost of 0. I am now sure I have one power plant plug right (the random node will definitely be in one of the tree, so whole tree will be connected). Now the iterative part. I take other node (eg. N1) and again connected with PP with 0 cost edge. Now I calculate MST. Then repeat this process with replacing N1 with N2, N3 ...
So I will test every pair [N0, NX]. The lowest cost MST wins.
For X>2 is it really the same as for X=2, but I have to test connect to PP every (x-1)-tuple and calculate MST
with x^2 for MST I have complexity about (N over X-1) * x^2... Pretty complex, but I think it will give me THE OPTIMAL solution
what do you think?
edit by random node I mean random but FIXED node
attempt to visualize for x=2 (each description belongs to image above it)
Let this be our city, nodes A - F are houses, edges are candidates to future cables (each has some cost to build)
Just for image, this could be the solution
Let the green one be the power plant, this is how can look connection to one tree
But this different connection is really the same (connection to power plant(pp) cost the same, cables remains untouched). That is why we can set one of the nodes as fixed point of contact to the pp. We can be sure, that the node will be in one of the trees, and it does not matter where in the tree is.
So let this be our fixed situation with G as PP. Edge (B,G) with zero cost is added.
Now I am trying to connect second connection with PP (A,G, cost 0)
Now I calculate MST from the PP. Because red edges are the cheapest (the can actually have even negative cost), is it sure, that both of them will be in MST.
So when running MST I get something like this. Imagine detaching PP and two MINIMAL COST trees left. This is the best solution for A and B are the connections to PP. I store the cost and move on.
Now I do the same for B and C connections
I could get something like this, so compare cost to previous one and choose the better one.
This way I have to try all the connection pairs (B,A) (B,C) (B,D) (B,E) (B,F) and the cheapest one is the winner.
For X=3 I would just test other tuples with one fixed again. (A,B,C) (A,B,D) ... (A,C,D) ... (A,E,F)
I just came up with the easy solution as follows:
N - node count
C - direct connections to the grid
E - available edges
1, Sort all edges by cost
2, Repeat (N-C) times:
Take the cheapest edge available
Check if adding this edge will not caused circles in already added edge
If not, add this edge
3, That is all... You will end up with C disjoint sets of edges, connect every set to the grid
Sounds like the famous Traveling Salesman problem. The problem known to be NP-hard. Take a look at the Wikipedia as your starting point: http://en.wikipedia.org/wiki/Travelling_salesman_problem
Related
I was asked the following question in an interview and I am unable to find an efficient solution.
Here is the problem:
We want to build a network and we are given c nodes/cities and D possible edges/connections made by roads. Edges are bidirectional and we know the cost of the edge. The costs of the edges can be represented as d[i,j] which denotes the cost of the edge i-j. Note not all c nodes can be directly connected to each other (D is the set of possible edges).
Now we are given a list of k potential edges/connections that have no cost. However, you can only choose one edge in the list of k edges to use (like getting free funding to build an airport between two cities).
So the question is... find the set of roads (and the one free airport) that minimizes total cost required to build the network connecting all cities in an efficient runtime.
So in short, solve a minimum spanning tree problem but where you can choose 1 edge in a list of k potential edges to be free of cost. I'm unsure how to solve... I've tried finding all the spanning trees in order of increasing cost and choosing the lowest cost, but I'm still challenged on how to consider the one free edge from the list of k potential free edges. I've also tried finding the MST of the D potential connections and then adjusting it according the the options in k to get a result.
Thank you for any help!
One idea would be to treat your favorite MST algorithm as a black box and to think about changing the edges in the graph before asking for the MST. For example, you could try something like this:
for each edge in the list of possible free edges:
make the graph G' formed by setting that edge cost to 0.
compute the MST of G'
return the cheapest MST out of all the ones generated this way
The runtime of this approach is O(kT(m, n)), where k is the number of edges to test and T(m, n) is the cost of computing an MST using your favorite black-box algorithm.
We can do better than this. There's a well-known problem of the following form:
Suppose you have an MST T for a graph G. You then reduce the cost of some edge {u, v}. Find an MST T' in the new graph G'.
There are many algorithms for solving this problem efficiently. Here's one:
Run a DFS in T starting at u until you find v.
If the heaviest edge on the path found this way costs more than {u, v}:
Delete that edge.
Add {u, v} to the spanning tree.
Return the resulting tree T'.
(Proving that this works is tedious but doable.) This would give an algorithm of cost O(T(m, n) + kn), since you would be building an initial MST (time T(m, n)), then doing k runs of DFS in a tree with n nodes.
However, this can potentially be improved even further if you're okay using some more advanced algorithms. The paper "On Cartesian Trees and Range Minimum Queries" by Demaine et al shows that in O(n) time, it is possible to preprocess a minimum spanning tree so that, in time O(1), queries of the form "what is the lowest-cost edge on the path in this tree between nodes u and v?" in time O(1). You could therefore build this structure instead of doing a DFS to find the bottleneck edge between u and v, reducing the overall runtime to O(T(m, n) + n + k). Given that T(m, n) is very low (the best known bound is O(m α(m)), where α(m) is the Ackermann inverse function and is less than five for all inputs in the feasible univers), this is asymptotically a very quick algorithm!
First generate a MST. Now, if you add a free edge, you will create exactly one cycle. You could then remove the heaviest edge in the cycle to get a cheaper tree.
To find the best tree you can make by adding one free edge, you need to find the heaviest edge in the MST that you could replace with a free one.
You can do that by testing one free edge at a time:
Pick a free edge
Find the lowest common ancestor in the tree (from an arbitrary root) of its adjacent vertices
Remember the heaviest edge on the path between the free edge vertices
When you're done, you know which free edge to use -- it's the one associated with the heaviest tree edge, and you know which edge it replaces.
In order to make steps (2) and (3) faster, you can remember the depth of each node and connect it to multiple ancestors like a skip list. You can then do those steps in O(log |V|) time, leading to a total complexity of O( (|E|+k) log |V| ), which is pretty good.
EDIT: Even Easier Way
After thinking about this a bit, it seems there's a super easy way to figure out which free edge to use and which MST edge to replace.
Disregarding the k possible free edges, you build the MST from the other edges using Kruskal's algorithm, but you modify the usual disjoint set data structure as follows:
Use union by size or rank, but not path compression. Every union operation will then establish exactly one link, and take O(log N) time, and all path lengths will be at most O(log N) long.
For each link, remember the index of the edge that caused it to be created.
For each possible free edge, then, you can walk up the links in the disjoint set structure to find out exactly at which point its endpoints were connected into the same connected component. You get the index of the last required edge, i.e., the one it would replace, and the free edge with the greatest replacement target index is the one you should use.
I'd like to solve a harder version of the minimum spanning tree problem.
There are N vertices. Also there are 2M edges numbered by 1, 2, .., 2M. The graph is connected, undirected, and weighted. I'd like to choose some edges to make the graph still connected and make the total cost as small as possible. There is one restriction: an edge numbered by 2k and an edge numbered by 2k-1 are tied, so both should be chosen or both should not be chosen. So, if I want to choose edge 3, I must choose edge 4 too.
So, what is the minimum total cost to make the graph connected?
My thoughts:
Let's call two edges 2k and 2k+1 a edge set.
Let's call an edge valid if it merges two different components.
Let's call an edge set good if both of the edges are valid.
First add exactly m edge sets which are good in increasing order of cost. Then iterate all the edge sets in increasing order of cost, and add the set if at least one edge is valid. m should be iterated from 0 to M.
Run an kruskal algorithm with some variation: The cost of an edge e varies.
If an edge set which contains e is good, the cost is: (the cost of the edge set) / 2.
Otherwise, the cost is: (the cost of the edge set).
I cannot prove whether kruskal algorithm is correct even if the cost changes.
Sorry for the poor English, but I'd like to solve this problem. Is it NP-hard or something, or is there a good solution? :D Thanks to you in advance!
As I speculated earlier, this problem is NP-hard. I'm not sure about inapproximability; there's a very simple 2-approximation (split each pair in half, retaining the whole cost for both halves, and run your favorite vanilla MST algorithm).
Given an algorithm for this problem, we can solve the NP-hard Hamilton cycle problem as follows.
Let G = (V, E) be the instance of Hamilton cycle. Clone all of the other vertices, denoting the clone of vi by vi'. We duplicate each edge e = {vi, vj} (making a multigraph; we can do this reduction with simple graphs at the cost of clarity), and, letting v0 be an arbitrary original vertex, we pair one copy with {v0, vi'} and the other with {v0, vj'}.
No MST can use fewer than n pairs, one to connect each cloned vertex to v0. The interesting thing is that the other halves of the pairs of a candidate with n pairs like this can be interpreted as an oriented subgraph of G where each vertex has out-degree 1 (use the index in the cloned bit as the tail). This graph connects the original vertices if and only if it's a Hamilton cycle on them.
There are various ways to apply integer programming. Here's a simple one and a more complicated one. First we formulate a binary variable x_i for each i that is 1 if edge pair 2i-1, 2i is chosen. The problem template looks like
minimize sum_i w_i x_i (drop the w_i if the problem is unweighted)
subject to
<connectivity>
for all i, x_i in {0, 1}.
Of course I have left out the interesting constraints :). One way to enforce connectivity is to solve this formulation with no constraints at first, then examine the solution. If it's connected, then great -- we're done. Otherwise, find a set of vertices S such that there are no edges between S and its complement, and add a constraint
sum_{i such that x_i connects S with its complement} x_i >= 1
and repeat.
Another way is to generate constraints like this inside of the solver working on the linear relaxation of the integer program. Usually MIP libraries have a feature that allows this. The fractional problem has fractional connectivity, however, which means finding min cuts to check feasibility. I would expect this approach to be faster, but I must apologize as I don't have the energy to describe it detail.
I'm not sure if it's the best solution, but my first approach would be a search using backtracking:
Of all edge pairs, mark those that could be removed without disconnecting the graph.
Remove one of these sets and find the optimal solution for the remaining graph.
Put the pair back and remove the next one instead, find the best solution for that.
This works, but is slow and unelegant. It might be possible to rescue this approach though with a few adjustments that avoid unnecessary branches.
Firstly, the edge pairs that could still be removed is a set that only shrinks when going deeper. So, in the next recursion, you only need to check for those in the previous set of possibly removable edge pairs. Also, since the order in which you remove the edge pairs doesn't matter, you shouldn't consider any edge pairs that were already considered before.
Then, checking if two nodes are connected is expensive. If you cache the alternative route for an edge, you can check relatively quick whether that route still exists. If it doesn't, you have to run the expensive check, because even though that one route ceased to exist, there might still be others.
Then, some more pruning of the tree: Your set of removable edge pairs gives a lower bound to the weight that the optimal solution has. Further, any existing solution gives an upper bound to the optimal solution. If a set of removable edges doesn't even have a chance to find a better solution than the best one you had before, you can stop there and backtrack.
Lastly, be greedy. Using a regular greedy algorithm will not give you an optimal solution, but it will quickly raise the bar for any solution, making pruning more effective. Therefore, attempt to remove the edge pairs in the order of their weight loss.
Suppose that the number of edges of a connected graph is known and the weight of each edge is distinct, would it possible to create a minimal spanning tree in linear time?
To do this we must look at each edge; and during this loop there can contain no searches otherwise it would result in at least n log n time. I'm not sure how to do this without searching in the loop. It would mean that, somehow we must only look at each edge once, and decide rather to include it or not based on some "static" previous values that does not involve a growing data structure.
So.. let's say we keep the endpoints of the node in question, then look at the next node, if the next node has the same vertices as prev, then compare the weight of prev and current node and keep the lower one. If the current node's endpoints are not equal to prev, then it is in a different component .. now I am stuck because we cannot create a hash or array to keep track of the component nodes that are already added while look through each edge in linear time.
Another approach I thought of is to find the edge with the minimal weight; since the edge weights are distinct this edge will be part of any MST. Then.. I am stuck. Since we cannot do this for n - 1 edges in linear time.
Any hints?
EDIT
What if we know the number of nodes, the number of edges and also that each edge weight is distinct? Say, for example, there are n nodes, n + 6 edges?
Then we would only have to find and remove the correct 7 edges correct?
To the best of my knowledge there is no way to compute an MST faster by knowing how many edges there are in the graph and that they are distinct. In the worst case, you would have to look at every edge in the graph before finding the minimum-cost edge (which must be in the MST), which takes Ω(m) time in the worst case. Therefore, I'll claim that any MST algorithm must take Ω(m) time in the worst case.
However, if we're already doing Ω(m) work in the worst-case, we could do the following preprocessing step on any MST algorithm:
Scan over the edges and count up how many there are.
Add an epsilon value to each edge weight to ensure the edges are unique.
This can be done in time Ω(m) as well. Consequently, if there were a way to speed up MST computation knowing the number of edges and that the edge costs are distinct, we would just do this preprocessing step on any current MST algorithm to try to get faster performance. Since to the best of my knowledge no MST algorithm actually tries to do this for performance reasons, I would suspect that there isn't a (known) way to get a faster MST algorithm based on this extra knowledge.
Hope this helps!
There's a famous randomised linear-time algorithm for minimum spanning trees whose complexity is linear in the number of edges. See "A randomized linear-time algorithm to find minimum spanning trees" by Karger, Klein, and Tarjan.
The key result in the paper is their "sampling lemma" -- that, if you independently randomly select a subset of the edges with probability p and find the minimum spanning tree of this subgraph, then there are only |V|/p edges that are better than the worst edge in the tree path connecting its ends.
As templatetypedef noted, you can't beat linear-time. That all edge weights are distinct is a common assumption that simplifies analysis; if anything, it makes MST algorithms run a little slower.
The fact that a number of edges (N) is known does not influence the complexity in any way. N is still a finite but unbounded variable, and each graph will have different N. If you place a upper bound on N, say, 1 million, then the complexity is O(1 million log 1 million) = O(1).
The fact that each edge has distinct weight does not influence the program either, because it does not say anything about the graph's structure. Therefore knowledge about current case cannot influence further processing, as we cannot predict how the graph's structure will look like in the next step.
If the number of edges is close to n, like in this case n-6 (after edit), we know that we only need to remove 7 edges as every spanning tree has only n-1 edges.
The Cycle Property shows that the most expensive edge in a cycle does not belong to any Minimum Spanning tree(assuming all edges are distinct) and thus, should be removed.
Now you can simply apply BFS or DFS to identify a cycle and remove the most expensive edge. So, overall, we need to run BFS 7 times. This takes 7*n time and gives us a time complexity of O(n). Again, this is only true if the number of edges is close to the number of nodes.
I'm searching for an algorithm to find pairs of adjacent nodes on a hexagonal (honeycomb) graph that minimizes a cost function.
each node is connected to three adjacent nodes
each node "i" should be paired with exactly one neighbor node "j".
each pair of nodes defines a cost function
c = pairCost( i, j )
The total cost is then computed as
totalCost = 1/2 sum_{i=1:N} ( pairCost(i, pair(i) ) )
Where pair(i) returns the index of the node that "i" is paired with. (The sum is divided by two because the sum counts each node twice). My question is, how do I find node pairs that minimize the totalCost?
The linked image should make it clearer what a solution would look like (thick red line indicates a pairing):
Some further notes:
I don't really care about the outmost nodes
My cost function is something like || v(i) - v(j) || (distance between vectors associated with the nodes)
I'm guessing the problem might be NP-hard, but I don't really need the truly optimal solution, a good one would suffice.
Naive algos tend to get nodes that are "locked in", i.e. all their neighbors are taken.
Note: I'm not familiar with the usual nomenclature in this field (is it graph theory?). If you could help with that, then maybe that could enable me to search for a solution in the literature.
This is an instance of the maximum weight matching problem in a general graph - of course you'll have to negate your weights to make it a minimum weight matching problem. Edmonds's paths, trees and flowers algorithm (Wikipedia link) solves this for you (there is also a public Python implementation). The naive implementation is O(n4) for n vertices, but it can be pushed down to O(n1/2m) for n vertices and m edges using the algorithm of Micali and Vazirani (sorry, couldn't find a PDF for that).
This seems related to the minimum edge cover problem, with the additional constraint that there can only be one edge per node, and that you're trying to minimize the cost rather than the number of edges. Maybe you can find some answers by searching for that phrase.
Failing that, your problem can be phrased as an integer linear programming problem, which is NP-complete, which means that you might get dreadful performance for even medium-sized problems. (This does not necessarily mean that the problem itself is NP-complete, though.)
The minimum spanning tree problem is to take a connected weighted graph and find the subset of its edges with the lowest total weight while keeping the graph connected (and as a consequence resulting in an acyclic graph).
The algorithm I am considering is:
Find all cycles.
remove the largest edge from each cycle.
The impetus for this version is an environment that is restricted to "rule satisfaction" without any iterative constructs. It might also be applicable to insanely parallel hardware (i.e. a system where you expect to have several times more degrees of parallelism then cycles).
Edits:
The above is done in a stateless manner (all edges that are not the largest edge in any cycle are selected/kept/ignored, all others are removed).
What happens if two cycles overlap? Which one has its longest edge removed first? Does it matter if the longest edge of each is shared between the two cycles or not?
For example:
V = { a, b, c, d }
E = { (a,b,1), (b,c,2), (c,a,4), (b,d,9), (d,a,3) }
There's an a -> b -> c -> a cycle, and an a -> b -> d -> a
#shrughes.blogspot.com:
I don't know about removing all but two - I've been sketching out various runs of the algorithm and assuming that parallel runs may remove an edge more than once I can't find a situation where I'm left without a spanning tree. Whether or not it's minimal I don't know.
For this to work, you'd have to detail how you would want to find all cycles, apparently without any iterative constructs, because that is a non-trivial task. I'm not sure that's possible. If you really want to find a MST algorithm that doesn't use iterative constructs, take a look at Prim's or Kruskal's algorithm and see if you could modify those to suit your needs.
Also, is recursion barred in this theoretical architecture? If so, it might actually be impossible to find a MST on a graph, because you'd have no means whatsoever of inspecting every vertex/edge on the graph.
I dunno if it works, but no matter what your algorithm is not even worth implementing. Finding all cycles will be the freaking huge bottleneck that will kill it. Also doing that without iterations is impossible. Why don't you implement some standard algorithm, let's say Prim's.
Your algorithm isn't quite clearly defined. If you have a complete graph, your algorithm would seem to entail, in the first step, removing all but the two minimum elements. Also, listing all the cycles in a graph can take exponential time.
Elaboration:
In a graph with n nodes and an edge between every pair of nodes, there are, if I have my math right, n!/(2k(n-k)!) cycles of size k, if you're counting a cycle as some subgraph of k nodes and k edges with each node having degree 2.
#Tynan The system can be described (somewhat over simplified) as a systems of rules describing categorizations. "Things are in category A if they are in B but not in C", "Nodes connected to nodes in Z are also in Z", "Every category in M is connected to a node N and has 'child' categories, also in M for every node connected to N". It's slightly more complicated than this. (I have shown that by creating unstable rules you can model a turning machine but that's beside the point.) It can't explicitly define iteration or recursion but can operate on recursive data with rules like the 2nd and 3rd ones.
#Marcin, Assume that there are an unlimited number of processors. It is trivial to show that the program can be run in O(n^2) for n being the longest cycle. With better data structures, this can be reduced to O(n*O(set lookup function)), I can envision hardware (quantum computers?) that can evaluate all cycles in constant time. giving a O(1) solution to the MST problem.
The Reverse-delete algorithm seems to provide a partial proof of correctness (that the proposed algorithm will not produce a non-minimal spanning tree) this is derived by arguing that mt algorithm will remove every edge that the Reverse-delete algorithm will. However I'm not sure how to show that my algorithm won't delete more than that algorithm.
Hhmm....
OK this is an attempt to finish the proof of correctness. By analogy to the Reverse-delete algorithm, we know that enough edges will be removed. What remains is to show that there will not be to many edges removed.
Removing to many edges can be described as removing all the edges between the side of a binary partition of the graph nodes. However only edges in a cycle are ever removed, therefor, for all edge between partitions to be removed, there needs to be a return path to complete the cycle. If we only consider edges between the partitions then the algorithm can at most remove the larger of each pair of edges, this can never remove the smallest bridging edge. Therefor for any arbitrary binary partitioning, the algorithm can't sever all links between the side.
What remains is to show that this extends to >2 way partitions.