The shortest path to the goal

(Mathematics in the route planner)

Sven O. Krumke 13 October 2005
krumke@mathematik.uni-kl.de
Travel info
How do I get to Halver?
Requirements
We want an answer that is correct • • fast • practical.
Overview
• Shortest Paths • Navigation systems • graphs and networks • Algorithms and Dat
a Structures
Shortest Paths I
Tell: Call me the nearest way to Arth and Küssnacht Fischer: The frank street ru
ns over stones, but a secret short cut and you can my boy run over Lowerz.
Shortest Paths II
Way at all
Theseus found his way out of the labyrinth through a thread of Ariadne.
Navigation
Navigation system
Route planning
Localization
Localization and route planning
Localization "is simply" ...
During the routing, we have approximately 5,022,028 crossings • • ca • 6169904 r
oad about 10 100 potential routes
The problem
How to #!?*$!} we can find a shortest path in 1 second? Perhaps we should someti
mes ask the mathematicians?
Historic Sites
1736 people sought in Konigsberg a trail that led over all seven bridges exactly
once.
Historic Sites
1736 people sought in Konigsberg a trail that led over all seven bridges exactly
once.
Somehow it will not work!
Euler and graph theory
C
A
D
B
Leonhard Euler
Euler and graph theory
C There is no trail, since all vertices have odd degrees! D
A
B Euler's theorem: There is a trail if and only if G consists of all A and zsh.
Graph vertex degrees are even. • a lot • lot of corners of edges Leonhard Euler
The set of Euler
Euler's theorem: There is a trail if and only if G zsh. and all vertex degrees a
re even. Show: all vertex degrees even Consider longest cycle C in G. Case 1: K
is Eulerian, there are Euler circle
The set of Euler
Euler's theorem: There is a trail if and only if G zsh. and all vertex degrees a
re even. Show: all vertex degrees even Consider longest cycle C in G. Case 1: K
is Eulerian Case 2: K is not there Eulerian Euler circle
The set of Euler
Euler's theorem: There is a trail if and only if G zsh. and all vertex degrees a
re even. Show: all vertex degrees even Consider longest cycle C in G. Case 1: K
is Eulerian Case 2: K is not Eulerian New Circle W There is a longer cycle than
K! There are Euler circle
Graph
C C
A
D
A
D
B undirected graph
Directed graph B
In a directed graph G = (V, E), each edge (u, v) a direction. u v
Our problem with a new look
Given: Directed graph G = (V, E) s • Start, Target (dd Wanted target) • Edge wei
ghts: a shortest st-path
s (start) 1 A 2 4 2 8 6 C B D E
3
Mr. Brute Force
Hahahaha! With my fast computer, I simply try all ways!
I do not ...
On the trail of chance
St-How many ways there are in a random graph? n vertices for each of the n (n-1)
possible edges, we flip a coin? ?
? ? ?
?
On the trail of chance
St-How many ways there are in a random graph? n vertices for each of the n (n-1)
possible edges, we toss a coin # Possible paths with n-1 edges: W'keit that a f
ixed path exists: the expected number of ways:
Head against force
By brute force is not well! Shortest st-path = + zt sz Shortest path Shortest pa
th
Head against force (II)
• s is 0 • away from itself all the direct successors of s are 1 away • all its
successors, which are located do not have one, two away • ...
0
1
2
The algorithm of Dijkstra
2 4 6 A B C D 1 2 8 E
3
Wanted: The shortest way from A to C
The algorithm of Dijkstra
∞
0 A 1 Permanent marked corners 4 2 D B
2 6
∞
C 8 E
3
∞
∞
"Infinite"
The algorithm of Dijkstra
∞
0 A 1 Permanent marked corners 4 2 D B
2 6
∞
C 8 E
3
∞
∞
The algorithm of Dijkstra
∞ 4 0 A 1 Permanent corners marked A 0 4 2 6 2 D 1 ∞ B
∞
C 8 E
3
∞
The algorithm of Dijkstra
4 2 0 A 1 Permanent corners marked A 0 4 2 1 D 6 B 7 C 8 E 4 ∞ ∞
3
The algorithm of Dijkstra
4 3 4 2 1 Permanent corners marked A 0 D 1 D 1 B 6 2 7 C 8 E 4 ∞ ∞
0 A
3
The algorithm of Dijkstra
3 4 2 1 Permanent corners marked A 0 D 1 D 1 B 6 2 7 C 8 E 4 ∞
0 A
3
The algorithm of Dijkstra
3 4 2 1 Permanent corners marked A 0 D 1 D 1 B 3 B 6 2 5 7 C 8 E 4 ∞
0 A
3
The algorithm of Dijkstra
3 4 2 1 Permanent corners marked A 0 D 1 D 1 B 3 B 6 2 5 C 8 E 4 ∞
0 A
3
The algorithm of Dijkstra
3 4 2 1 Permanent corners marked A 0 D 1 B 3 E 4 D 1 B 6 2 5 C 8 E 4 ∞
0 A
3
The Dijkstra's algorithm
3 4 2 1 Permanent corners marked A 0 D 1 B 3 E 4 D 1 B 6 2 5 C 8 E 4 ∞
0 A
3
The Dijkstra's algorithm
3 4 2 1 Permanent corners marked A 0 D 1 B 3 E 4 C 5 D 1 6 2 B 5 C 8 E 4 ∞
0 A
3
The Dijkstra's algorithm
• In each iteration is not permanently marked corner with very little "key value
" permanently • marked for all their successors, the key value adjusted total co
sts (n vertices and m edges): 3 4 2 1 D 1 B 6 2 7 C 8 E 4 ∞
0 A
3
Duration of the algorithm of Dijkstra
Corner key value A B C ... 5 3 2 2
Computing
Computing
5000
n 20 30 40 50 60 ...
100.0000
4500
4000
1s min 17.9 12.7 days 37.7 years
0.0004 s 0.0009 s 0.0016 s 0.0025 s
3500
3000
2500
2000
1500
1000
500
366 0.0036 s 1.5 h centuries
0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
That has to go even better!
n times the minimum
Heaps of pile
The problem here!
A heap (heap) helps: "Height" log n 5 9 4 10 Minimum: 1 time DOWN: ??????? 14 11
9 9 7 14 2 3 7 smallest element (= minimum)
Term "reloaded"
Computing
1800 corner
Key value 5 3 2
A
1600 B
C
...
1200 1000 Reihe2 Reihe1 800
1400
600
400
200
0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
Advanced Mathematics
With even more sophisticated algorithms and data structures can reduce the runni
ng time further.
Summary
• Behind the planner puts a lot of mathematics • thinking is better than brute f
orce • Network Optimization:
Thank you!
http://www.mathematik.uni-kl.de/ ~ Krumke