Numerische Mathematik ~, 269--271 (1959)

A Note on T w o Problems in Connexion with Graphs

By

E. W. DIJKSTRA
We consider n points (nodes), some or all pairs of which are connected by a branch; the length of each b r a n c h is given. We restrict ourselves to the case where at least one p a t h exists between any two nodes. We now consider two problems.

Problem 1. Constrnct the tree of minimum total length between the n nodes. (A tree is a graph with one and only one path between every two nodes.) In the course of the construction that we present here, the branches are subdivided into three sets: I. the branches definitely assignec~ to the tree under construction (they will form a subtree) ; II. the branches from which the next branch to be added to set I, will be selected ; I I I . the remaining branches (rejected or not yet considered).
The nodes are subdivided into two sets: A. the nodes connected b y the branches of set I, B. the remaining nodes (one and only one branch of set of these nodes), We start the construction b y choosing an arbitrary node of set A, and b y placing all branches t h a t end in this node with, set I is empty. From then onwards we perform the repeatedly.

I I will lead to each as the only member in set II. To start following two steps

Step 1. The shortest branch of set I I is removed from this set and added to set I. As a result one node is transferred from set B to set A. Step 2. Consider the branches leading from the node, t h a t has just been transferred to set A, to the nodes t h a t are still in set B. If the b r a n c h under consideration is longer than the corresponding branch in set I I , it is rejected; it it is shorter, it reptaces the corresponding branch in set I i , and the latter is rejected.
We then return to step I and repeat the process until sets I I and ]3 are empty. The branches in set I form the tree required. The solution given here is to be preferred to the solution given b y J . B . KRUSKAL [1] and those given b y H. LOBERMAN and A. WEINBERGER [2]. In their solutions all the -- possibly 89 -- branches are first of all sorted according to length. Even if the length of the branches is a computable function of the node coordinates, their methods demand that d a t a for all branches are stored simultaneously. Our m e t h o d only requires the simultaneous storing of
Numbs. N a t h . B d . 4. i9

270

E . W . DIJKSTRA:

the d a t a for a t most n branches, viz. the branches in sets I a n d I I a n d the branch u n d e r consideration in step 2. P r o b l e m 2. F i n d the p a t h of m i n i m u m t o t a l l e n g t h between two given nodes P a n d Q. W e use the fact t h a t , if R is a node on the m i n i m a l p a t h from P to Q, knowledge of t h e l a t t e r implies t h e knowledge of the m i n i m a l p a t h from P to R. I n t h e solution presented, the m i n i m a l p a t h s from P to the o t h e r nodes are c o n s t r u c t e d in order of increasing length u n t i l Q is reached. I n the course of the solution the nodes are s u b d i v i d e d into three sets: A. the nodes for which the p a t h of m i n i m u m length from P is k n o w n ; nodes will be a d d e d to this set in order of increasing m i n i m u m p a t h length from node P ; B. the nodes from which the n e x t node to be a d d e d to set A will be selected; this set comprises all those nodes t h a t are c o n n e c t e d to at least one node of set A b u t do not y e t belong to A themselves; C. the r e m a i n i n g nodes. The branches are also s u b d i v i d e d into three sets: I. the b r a n c h e s occurring in the m i n i m a l p a t h s from node P to the nodes in set A ; I I . the b r a n c h e s from which the n e x t b r a n c h to be placed in set I will be selected; one a n d o n l y one b r a n c h of this set will l e a d to each node in set B ; I I I . the r e m a i n i n g b r a n c h e s (rejected or not y e t considered). To s t a r t with, all nodes are in set C a n d all b r a n c h e s are in set I I I . W e now t r a n s f e r node P to set A a n d from then o n w a r d s r e p e a t e d l y perform the following steps.

Step 1. Consider all branches r connecting the node just t r a n s f e r r e d to set A w i t h nodes R in sets B or C. If node R belongs to set B, we i n v e s t i g a t e w h e t h e r t h e use of b r a n c h r gives rise to a s h o r t e r p a t h from P to R t h a n the known p a t h t h a t uses the corresponding b r a n c h in set I I . If this is not so, b r a n c h r is r e j e c t e d ; if, however, use of b r a n c h r results in a shorter connexion between P a n d R t h a n h i t h e r t o obtained, it replaces the corresponding b r a n c h in set I I a n d the l a t t e r is rejected. If the node R belongs to set C, it is a d d e d to set B a n d b r a n c h r is a d d e d to set I I . Step 2. E v e r y node in set B can be connected to node P in only one w a y if we restrict ourselves to b r a n c h e s from set I and one from set I I . In this sense each node in set B has a distance from node P : the node w i t h m i n i m u m distance from P is t r a n s f e r r e d from set B to set A, a n d the corresponding b r a n c h is t r a n s ferred from set I I to set I. W e t h e n r e t u r n to s t e p t a n d r e p e a t the process u n t i l node Q is t r a n s f e r r e d to set A. T h e n the solution has been found.
R e m a r k 1. The a b o v e process can also be a p p l i e d in the case where the length of a branch depends on the direction in which it is traversed. R e m a r k 2. F o r each b r a n c h in sets I a n d I I it is a d v i s a b l e to record its two nodes (in order of increasing d i s t a n c e from P), a n d the d i s t a n c e b e t w e e n P a n d t h a t node of the b r a n c h t h a t is furthest from P . F o r the b r a n c h e s of set I t h i s

Two Problems in Connexion with Graphs

27t

is the a c t u a l m i n i m u m distance, for the branches of set I I it is only the m i n i m u m t h u s far obtained. The solution given a b o v e is to be preferred to the solution b y L. R. FORD [3J as described b y C. BERGE [4~, for, irrespective of the n u m b e r of branches, we need not store the d a t a for all branches s i m u l t a n e o u s l y b u t only those for the b r a n c h e s in sets I a n d I I , a n d this n u m b e r is always less t h a n n. F u r t h e r m o r e , t h e a m o u n t of work to be done seems to be considerably less. References [1] KRUSKAL jr., J . B . : On the Shortest Spanning Subtree of a Graph and the Travelling Salesman Problem. Proc. Amer. Math. Soc. 7, 48--50 (1956). E21 LOBERMAN, H., and A. WEINBERGER: Formal Procedures for Connecting Terminals with a Minimum Total Wire Length. J. Ass. Comp. Mach. 4, 428--437 (1957). [8] FORD, L. R.: Network flow theory. Rand Corp. Paper, P-923, t956. [4] B~RoE, C. : Th~orie des graphes et ses applications, pp. 68-- 69. Paris : Dunod 1958. Mathematisch Centrum 2e Boerhaavestraat 49 Amsterdam-O

(Received June 11, 19.59)

19"