Introduction to Algorithms Spanning Trees

CSE 680 Prof. Roger Crawfis

Tree

We call an undirected graph a tree if the graph is connected and contains no cycles. Trees:

Not Trees:
Not connected

Has a cycle

Number of Vertices

If a graph is a tree, then the number of edges in the graph is one less than the number of vertices. A tree with n vertices has n 1 edges.

Each node has one parent except for the root.

Note: Any node can be the root here, as we are not dealing with rooted trees.

Connected Graph

A connected graph is one in which there is at least one path between each pair of vertices.

Spanning Tree

In a tree there is always exactly one path from each vertex in the graph to any other vertex in the graph. A spanning tree for a graph is a subgraph that includes every vertex of the original, and is a tree.

(a) Graph G

(b) Breadth-first spanning tree of G rooted at b

(c) Depth-first spanning tree of G rooted at c

Non-Connected Graphs

If the graph is not connected, we get a spanning tree for each connected component of the graph.

That is we get a forest.

Finding a Spanning Tree

Find a spanning tree for the graph below.

We could break the two cycles by removing a single edge from each. One of several possible ways to do this is shown below.

Was breadth-first or depth-first search (or neither) used to create this?

Minimum Spanning Tree

A spanning tree that has minimum total weight is called a minimum spanning tree for the graph.

Technically it is a minimum-weight spanning tree.

If all edges have the same weight, breadth-first search or depth-first search will yield minimum spanning trees.

For the rest of this discussion, we assume the edges have weights associated with them.

Note, we are strictly dealing with undirected graphs here, for directed graphs we would want to find the optimum branching or aborescence of the directed graph.

Minimum Spanning Tree

Minimum-cost spanning trees have many applications.

Building cable networks that join n locations with minimum cost. Building a road network that joins n cities with minimum cost. Obtaining an independent set of circuit equations for an electrical network. In pattern recognition minimal spanning trees can be used to find noisy pixels.

Minimum Spanning Tree

Consider this graph. It has 20 spanning trees. Some are:

There are two minimumcost spanning trees, each with a cost of 6:

Minimum Spanning Tree

Brute Force option:

1.
i. ii.

For all possible spanning trees

Calculate the sum of the edge weights Keep track of the tree with the minimum weight.

Step i) requires N-1 time, since each tree will have exactly N-1 edges. If there are M spanning trees, then the total cost will O(MN). Consider a complete graph, with N(N-1) edges. How big can M be?

Brute Force MST

For a complete graph, it has been shown that there are NN-2 possible spanning trees! Alternatively, given N items, you can build NN-2 distinct trees to connect these items. Note, for a lattice (like your grid implementation), the number of spanning trees is O(e1.167N).

Minimum Spanning Tree

There are many approaches to computing a minimum spanning tree. We could try to detect cycles and remove edges, but the two algorithms we will study build them from the bottom-up in a greedy fashion. Kruskals Algorithm starts with a forest of single node trees and then adds the edge with the minimum weight to connect two components. Prims Algorithm starts with a single vertex and then adds the minimum edge to extend the spanning tree.

Kruskals Algorithm

Greedy algorithm to choose the edges as follows.

First edge: choose any edge with the minimum weight. Next edge: choose any edge with minimum weight from those not yet selected. (The subgraph can look disconnected at this stage.) Continue to choose edges of minimum weight from those not yet selected, except do not select any edge that creates a cycle in the subgraph. Repeat step 3 until the subgraph connects all vertices of the original graph.

Step 1 Step 2

Step 3

Step 4

Kruskals Algorithm
Use Kruskals algorithm to find a minimum spanning tree for the graph.

7 A 7.5 B 10 1.5

D
4.5 F 9.5 4 C 8 3

Kruskals Algorithm
Solution
First, choose ED (the smallest weight).

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm
Solution
Now choose BF (the smallest remaining weight).

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm
Solution
Now CD and then BD.

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm
Solution
Note EF is the smallest remaining, but that would create a cycle. Choose AE and we are done.

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm
Solution
The total weight of the tree is 16.5.

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm

Some questions:
1.
2.

How do we know we are finished? How do we check for cycles?

7
A 10

1 D

4.5 F 9.5

7.5
B

1.5

4
C 8

Kruskals Algorithm
Build a priority queue (min-based) with all of the edges of G. T=; while(queue is not empty){ get minimum edge e from priorityQueue; if(e does not create a cycle with edges in T) add e to T; } return T;

Kruskals Algorithm

Trace of Kruskal's algorithm for the undirected, weighted graph:

The minimum cost is: 24

Kruskals Algorithm Time complexity

Steps

Initialize forest Sort edges Check edge for cycles O( |V| ) Number of edges O( |V| ) Total Since |E| = O( |V|2 )

O( |V| ) O( |E|log|E| ) x O( |V|2 ) O( |V|+|E|log|E|+|V|2 ) O( |V|2 log|V| )

Thus we would class MST as O( n2 log n ) for a graph with n vertices This is an upper bound, some improvements on this are known.

Kruskals Algorithm

Another implementation is based on sets (see Chapter 21). Kruskal() { T = ; for each v V MakeSet(v); sort E by increasing edge weight w for each (u,v) E (in sorted order) if FindSet(u) FindSet(v) T = T U {{u,v}}; Union(FindSet(u), FindSet(v)); }

Kruskals Algorithm

2 8 14 25

19 17 5 13 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Kruskals Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Prims Algorithm

Prims algorithm finds a minimum cost spanning tree by selecting edges from the graph one-by-one as follows: It starts with a tree, T, consisting of a single starting vertex, x. Then, it finds the shortest edge emanating from x that connects T to the rest of the graph (i.e., a vertex not in the tree T). It adds this edge and the new vertex to the tree T. It then picks the shortest edge emanating from the revised tree T that also connects T to the rest of the graph and repeats the process.

Prims Algorithm Abstract

Consider a graph G=(V, E); Let T be a tree consisting of only the starting vertex x; while (T has fewer than I V I vertices) {
find a smallest edge connecting T to G-T; add it to T;

Prims Algorithm

2 8 14 25

19 17 5 13 1 9 Start here

21

Prims Algorithm

2 8 14 25

19 17 5 13 1? 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims Algorithm

2 8 14 25

19 17 5 13 1 9

21

Prims and Kruskals Algorithms

It is not necessary that Prim's and Kruskal's algorithm generate the same minimum-cost spanning tree. For example for the graph shown on the right: Kruskal's algorithm results in the following minimum cost spanning tree:

The same tree is generated by Prim's algorithm if the start vertex is any of: A, B, or D.

However if the start vertex is C the minimum cost spanning tree generated by Prims algorithm is:

Implementation Details
Prims Algorithm from your book is horrible from a SE stand-point! MST-Prim(G, w, r) Q is a priority queue Q = V[G]; key is the internal priorities in Q! for each u Q changing key, changes the queue. key[u] = ; key[r] = 0; p[r] = NULL; while (Q not empty) u = ExtractMin(Q); for each v Adj[u] if (v Q and w(u,v) < key[v]) p[v] = u; key[v] = w(u,v);

Implementation Details

Why queue the vertices, rather than the newly discovered edges? MST-Prim(G, w, r) Q = V[G]; A Fibonacci Heap allows this to be for each u Q done in O(1) time. key[u] = ;

DecreaseKey(r, 0);
p[r] = NULL; while (Q not empty) u = ExtractMin(Q); for each v Adj[u] if (v Q and w(u,v) < key[v]) p[v] = u;

DecreaseKey(v, w(u,v));

Prims algorithm with an Adjacency Matrix

A cable company want to connect five villages to their network which currently extends to the market town of Avenford. What is the minimum length of cable needed? Brinleigh

Cornwell

8
Avenford

6 8
Fingley

Donster

7 4

5
2
Edan

Prims algorithm with an Adjacency Matrix

Note, this example has outgoing edges on the columns and incoming on the rows, so it is the transpose of adjacency matrix mentioned in class. Actually, it is an undirected, so AT = A.

A B C D E F

A 3 4 7

B 3 5 8

C 5 4 6

D 4 2 8

E 4 2 5

F 7 8 6 8 5 -

Start at vertex A. Label column A 1 . Delete row A Select the smallest entry in column A (AB, length 3)

Brinleigh

3
Avenford

A B C D E F

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

1
Label column B 2 Delete row B Select the smallest uncovered entry in either column A or column B (AE, length 4)

Brinleigh

3
Avenford

A B C D E F

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

4
Edan

Label column E 3 Delete row E Select the smallest uncovered entry in either column A, B or E (ED, length 2)

Brinleigh

3
Avenford

A B C D E F
Donster

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

4
Edan

1
Label column D 4 Delete row D Select the smallest uncovered entry in either column A, B, D or E (DC, length 4)

Brinleigh

Cornwell

3
Avenford

A B C D E F
Donster

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

4
Edan

1
Label column C 5 Delete row C Select the smallest uncovered entry in either column A, B, D, E or C (EF, length 5)

Brinleigh

Cornwell

3
Fingley
Avenford

A B C D E F
Donster

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

5 4
Edan

1
FINALLY Label column F 6 Delete row F

Brinleigh

Cornwell

3
Fingley
Avenford

A B C D E F
Donster

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

5 4
Edan

1
FINALLY Label column F 6 Delete row F

Brinleigh

Cornwell

3
Fingley
Avenford

A B C D E F
Donster

A 3 4 7

B 3 5 8

C D - 5 - 4 4 - 2 6 8

E 4 2 5

F 7 8 6 8 5 -

5 4
Edan

The spanning tree is shown in the diagram Length 3 + 4 + 4 + 2 + 5 = 18Km

Practice
GB

1. Find the breadth-first spanning tree and depth-first spanning tree of the graph GA shown above. 2. For the graph GB shown above, trace the execution of Prim's algorithm as it finds the minimum-cost spanning tree of the graph starting from vertex a. 3. Repeat question 2 above using Kruskal's algorithm.

Practice

Find the minimum spanning tree using Kruskals Algorithm.

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

List the edges in increasing order: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Starting from the left, add the edge to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point. Notice that the edge of weight 45 would close a circuit, so we skip it. 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

115

90

52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

Add the next edge in the list to the tree if it does not close up a circuit with the edges chosen up to that point: 20, 25, 30, 32, 35, 38, 40, 45, 50, 52, 55, 60, 70, 70, 88, 90, 100, 110, 115, 120

Done!
115 90 52

40 100 50

55 110 120

35

20

45

32 60 88 38

25

30

70

70

The tree contains every vertex, so it is a spanning tree. The total weight is 395

Kruskal vs. Prim

Both are Greedy algorithms

Both take the next minimum edge Both are optimal (find the global min) Kruskal all edges Prim Edges from Tree nodes to rest of G. Kruskal set containment and union. Prim Simple boolean. Kruskal when |V|-1 edges are added. Prim when |V| nodes are added (or |V|-1 edges). Prim can be O( |E| + |V| log|V| ) w/ Fibonacci Heaps Prim with an adjacency matrix is O(|V|2).

Different sets of edges considered

Both need to check for cycles

Both can terminate early

Both are O( |E| log|V| )