Sensitivity Analysis for Shortest Path Problems and Maximum Capacity Path Problems in Undirected Graphs

This paper addresses sensitivity analysis questions concerning the shortest path problem and the maximum capacity path problem in an undirected network. For both problems, we determine the maximum and minimum weights that each edge can have so that a given path remains optimal. For both problems, we show how to determine these maximum and minimum values for all edges in O(m + K log K) time, where m is the number of edges in the network, and K is the number of edges on the given optimal path

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

Characterization of complex networks: A survey of measurements

Each complex network (or class of networks) presents specific topological features which characterize its connectivity and highly influence the dynamics of processes executed on the network. The analysis, discrimination, and synthesis of complex networks therefore rely on the use of measurements capable of expressing the most relevant topological features. This article presents a survey of such measurements. It includes general considerations about complex network characterization, a brief review of the principal models, and the presentation of the main existing measurements. Important related issues covered in this work comprise the representation of the evolution of complex networks in terms of trajectories in several measurement spaces, the analysis of the correlations between some of the most traditional measurements, perturbation analysis, as well as the use of multivariate statistics for feature selection and network classification. Depending on the network and the analysis task one has in mind, a specific set of features may be chosen. It is hoped that the present survey will help the proper application and interpretation of measurements.Comment: A working manuscript with 78 pages, 32 figures. Suggestions of measurements for inclusion are welcomed by the author

Parameterized Algorithms for Graph Partitioning Problems

In parameterized complexity, a problem instance (I, k) consists of an input I and an extra parameter k. The parameter k usually a positive integer indicating the size of the solution or the structure of the input. A computational problem is called fixed-parameter tractable (FPT) if there is an algorithm for the problem with time complexity O(f(k).nc ), where f(k) is a function dependent only on the input parameter k, n is the size of the input and c is a constant. The existence of such an algorithm means that the problem is tractable for fixed values of the parameter. In this thesis, we provide parameterized algorithms for the following NP-hard graph partitioning problems: (i) Matching Cut Problem: In an undirected graph, a matching cut is a partition of vertices into two non-empty sets such that the edges across the sets induce a matching. The matching cut problem is the problem of deciding whether a given graph has a matching cut. The Matching Cut problem is expressible in monadic second-order logic (MSOL). The MSOL formulation, together with Courcelle’s theorem implies linear time solvability on graphs with bounded tree-width. However, this approach leads to a running time of f(||ϕ||, t) · n, where ||ϕ|| is the length of the MSOL formula, t is the tree-width of the graph and n is the number of vertices of the graph. The dependency of f(||ϕ||, t) on ||ϕ|| can be as bad as a tower of exponentials. In this thesis we give a single exponential algorithm for the Matching Cut problem with tree-width alone as the parameter. The running time of the algorithm is 2O(t) · n. This answers an open question posed by Kratsch and Le [Theoretical Computer Science, 2016]. We also show the fixed parameter tractability of the Matching Cut problem when parameterized by neighborhood diversity or other structural parameters. (ii) H-Free Coloring Problems: In an undirected graph G for a fixed graph H, the H-Free q-Coloring problem asks to color the vertices of the graph G using at most q colors such that none of the color classes contain H as an induced subgraph. That is every color class is H-free. This is a generalization of the classical q-Coloring problem, which is to color the vertices of the graph using at most q colors such that no pair of adjacent vertices are of the same color. The H-Free Chromatic Number is the minimum number of colors required to H-free color the graph. For a fixed q, the H-Free q-Coloring problem is expressible in monadic secondorder logic (MSOL). The MSOL formulation leads to an algorithm with time complexity f(||ϕ||, t) · n, where ||ϕ|| is the length of the MSOL formula, t is the tree-width of the graph and n is the number of vertices of the graph. In this thesis we present the following explicit combinatorial algorithms for H-Free Coloring problems: • An O(q O(t r ) · n) time algorithm for the general H-Free q-Coloring problem, where r = |V (H)|. • An O(2t+r log t · n) time algorithm for Kr-Free 2-Coloring problem, where Kr is a complete graph on r vertices. The above implies an O(t O(t r ) · n log t) time algorithm to compute the H-Free Chromatic Number for graphs with tree-width at most t. Therefore H-Free Chromatic Number is FPT with respect to tree-width. We also address a variant of H-Free q-Coloring problem which we call H-(Subgraph)Free q-Coloring problem, which is to color the vertices of the graph such that none of the color classes contain H as a subgraph (need not be induced). We present the following algorithms for H-(Subgraph)Free q-Coloring problems. • An O(q O(t r ) · n) time algorithm for the general H-(Subgraph)Free q-Coloring problem, which leads to an O(t O(t r ) · n log t) time algorithm to compute the H- (Subgraph)Free Chromatic Number for graphs with tree-width at most t. • An O(2O(t 2 ) · n) time algorithm for C4-(Subgraph)Free 2-Coloring, where C4 is a cycle on 4 vertices. • An O(2O(t r−2 ) · n) time algorithm for {Kr\e}-(Subgraph)Free 2-Coloring, where Kr\e is a graph obtained by removing an edge from Kr. • An O(2O((tr2 ) r−2 ) · n) time algorithm for Cr-(Subgraph)Free 2-Coloring problem, where Cr is a cycle of length r. (iii) Happy Coloring Problems: In a vertex-colored graph, an edge is happy if its endpoints have the same color. Similarly, a vertex is happy if all its incident edges are happy. we consider the algorithmic aspects of the following Maximum Happy Edges (k-MHE) problem: given a partially k-colored graph G, find an extended full k-coloring of G such that the number of happy edges are maximized. When we want to maximize the number of happy vertices, the problem is known as Maximum Happy Vertices (k-MHV). We show that both k-MHE and k-MHV admit polynomial-time algorithms for trees. We show that k-MHE admits a kernel of size k + `, where ` is the natural parameter, the number of happy edges. We show the hardness of k-MHE and k-MHV for some special graphs such as split graphs and bipartite graphs. We show that both k-MHE and k-MHV are tractable for graphs with bounded tree-width and graphs with bounded neighborhood diversity. vii In the last part of the thesis we present an algorithm for the Replacement Paths Problem which is defined as follows: Let G (|V (G)| = n and |E(G)| = m) be an undirected graph with positive edge weights. Let PG(s, t) be a shortest s − t path in G. Let l be the number of edges in PG(s, t). The Edge Replacement Path problem is to compute a shortest s − t path in G\{e}, for every edge e in PG(s, t). The Node Replacement Path problem is to compute a shortest s−t path in G\{v}, for every vertex v in PG(s, t). We present an O(TSP T (G) + m + l 2 ) time and O(m + l 2 ) space algorithm for both the problems, where TSP T (G) is the asymptotic time to compute a single source shortest path tree in G. The proposed algorithm is simple and easy to implement