Improved Algorithms for Constructing Fault-Tolerant Spanners

Let S be a set of n points in a metric space, and let k be a positive integer. Algorithms are given that construct k -fault-tolerant spanners for S . If in such a spanner at most k vertices and/ or edges are removed, then each pair of points in the remaining graph is still connected by a ``short'' path. First, an algorithm is given that transforms an arbitrary spanner into a k -fault-tolerant spanner. For the Euclidean metric in R ^d , this leads to an O(n log n + c ^k n) -time algorithm that constructs a k -fault-tolerant spanner of degree O(c ^k ) , whose total edge length is O(c ^k ) times the weight of a minimum spanning tree of S , for some constant c . For constant values of k , this result is optimal. In the second part of the paper, algorithms are presented for the Euclidean metric in R ^d . These algorithms construct (i) in O(n log n + k ² n) time, a k -fault-tolerant spanner with O(k ² n) edges, and (ii) in O(k n log n) time, such a spanner with O(k n log n) edges.     

Computing the Greedy Spanner in Near-Quadratic Time

The greedy algorithm produces high-quality spanners and, therefore, is used in several applications. However, even for points in d-dimensional Euclidean space, the greedy algorithm has near-cubic running time. In this paper, we present an algorithm that computes the greedy spanner for a set of n points in a metric space with bounded doubling dimension in O(n²logn)\ensuremath {\mathcal {O}}(n^{2}\log n) time. Since computing the greedy spanner has an Ω(n ²) lower bound, the time complexity of our algorithm is optimal within a logarithmic factor.     

Finding the k Shortest Paths in Parallel

A concurrent-read exclusive-write PRAM algorithm is developed to find the k shortest paths between pairs of vertices in an edge-weighted directed graph. Repetitions of vertices along the paths are allowed. The algorithm computes an implicit representation of the k shortest paths to a given destination vertex from every vertex of a graph with n vertices and m edges, using O(m+nk log ² k) work and O( log^3k log ^*k+ log n( log log k+ log ^*n)) time, assuming that a shortest path tree rooted at the destination is pre-computed. The paths themselves can be extracted from the implicit representation in O( log k + log n) time, and O(n log n +L) work, where L is the total length of the output. Received July 2, 1997; revised June 18, 1998.     

Fully Dynamic Geometric Spanners

In this paper we present an algorithm for maintaining a spanner over a dynamic set of points in constant doubling dimension metric spaces. For a set S of points in ? ^d , a t-spanner is a sparse graph on the points of S such that there is a path in the spanner between any pair of points whose total length is at most t times the distance between the points. We present the first fully dynamic algorithm for maintaining a spanner whose update time depends solely on the number of points in S. In particular, we show how to maintain a (1+ε)-spanner with O(n/ε ^d ) edges, where points can be inserted to S in an amortized update time of O(log?n) and deleted from S in an amortized update time of $\tilde{O}(n^{1/3})$ . As a by-product of our techniques we obtain a simple incremental algorithm for constructing a (1+ε)-spanner with O(n/ε ^d ) edges in constant doubling dimension metric spaces whose running time is O(nlog?n).     

Proximity problems for points on a rectilinear plane with rectangular obstacles

We consider the following four problems for a setS ofk points on a plane, equipped with the rectilinear metric and containing a setR ofn disjoint rectangular obstacles (so that distance is measured by a shortest rectilinear path avoiding obstacles inR): (a) find aclosest pair of points inS, (b) find anearest neighbor for each point inS, (c) compute the rectilinearVoronoi diagram ofS, and (d) compute a rectilinearminimal spanning tree ofS. We describeO ((n+k) log(n+k))-time sequential algorithms for (a) and (b) based onplane-sweep, and the consideration of geometrically special types of shortest paths, so-calledz-first paths. For (c) we present anO ((n+k) log(n+k) logn)-time sequential algorithm that implements a sophisticateddivide-and-conquer scheme with an addedextension phase. In the extension phase of this scheme we introduce novel geometric structures, in particular so-calledz-diagrams, and techniques associated with the Voronoi diagram. Problem (d) can be reduced to (c) and solved inO ((n+k) log(n+k) logn) time as well. All our algorithms arenear-optimal, as well as easy to implement. An extended abstract appeared inProc. 13th Conf. on the Foundations of Software Technology and Theoretical Computer Science, Bombay, 1993, Springer-Verlag, pp. 218–227. Sumanta Guha was supported in part by a UW-Milwaukee Graduate School Research Committee Award. Ichiro Suzuki was supported in part by the National Science Foundation under Grants CCR-9004346 and IRI-9307506, the Office of Naval Research under Grant N00014-94-1-0284, and an endowed chair supported by Hitachi Ltd. at the Faculty of Engineering Science, Osaka University.     

Maintaining the Classes of 4-Edge-Connectivity in a Graph On-Line

Two vertices of an undirected graph are called k -edge-connected if there exist k edge-disjoint paths between them (equivalently, they cannot be disconnected by the removal of less than k edges from the graph). Equivalence classes of this relation are called classes of k -edge-connectivity or k -edge-connected components. This paper describes graph structures relevant to classes of 4 -edge-connectivity and traces their transformations as new edges are inserted into the graph. Data structures and an algorithm to maintain these classes incrementally are given. Starting with the empty graph, any sequence of q Same-4-Class? queries and n Insert-Vertex and m Insert-Edge updates can be performed in O(q + m + n log n) total time. Each individual query requires O(1) time in the worst-case. In addition, an algorithm for maintaining the classes of k -edge-connectivity (k arbitrary) in a (k-1) -edge-connected graph is presented. Its complexity is O(q + m + n) , with O(M +k ² n log (n/k)) preprocessing, where M is the number of edges initially in the graph and n is the number of its vertices. Received July 5, 1995; revised October 21, 1996.     

Exact and Approximation Algorithms for Clustering

In this paper we present an n^ O(k ^1-1/d ) -time algorithm for solving the k -center problem in \reals ^d , under L _∈ fty - and L ₂ -metrics. The algorithm extends to other metrics, and to the discrete k -center problem. We also describe a simple (1+ɛ) -approximation algorithm for the k -center problem, with running time O(nlog k) + (k/ɛ)^ O(k ^1-1/d ) . Finally, we present an n^ O(k ^1-1/d ) -time algorithm for solving the L -capacitated k -center problem, provided that L=Ω(n/k ^1-1/d ) or L=O(1) . Received July 25, 2000; revised April 6, 2001.     

Fast Parallel Reordering and Isomorphism Testing of k -Trees

Abstract. In this paper two problems on the class of k -trees, a subclass of the class of chordal graphs, are considered: the fast reordering problem and the isomorphism problem. An O(log ² n) time parallel algorithm for the fast reordering problem is described that uses O(nk(n-k)/\kern -1ptlog n) processors on a CRCW PRAM proving membership in the class NC for fixed k . An O(nk(k+1)!) time sequential algorithm for the isomorphism problem is obtained representing an improvement over the O(n ² k(k+1)!) algorithm of Sekharan (the second author) [10]. A parallel version of this sequential algorithm is presented that runs in O(log ² n) time using O((nk((k+1)!+n-k))/log n) processors improving on a parallel algorithm of Sekharan for the isomorphism problem [10]. Both the sequential and parallel algorithms use a concept introduced in this paper called the kernel of a k -tree.     

Homogeneous Formulas and Symmetric Polynomials

We investigate the arithmetic formula complexity of the elementary symmetric polynomials S^k_n{S^k_n} . We show that every multilinear homogeneous formula computing S^k_n{S^k_n} has size at least k^W(logk)n{k^{\Omega(\log k)}n} , and that product-depth d multilinear homogeneous formulas for S^k_n{S^k_n} have size at least 2^W(k1/d)n{2^{\Omega(k^{1/d})}n} . Since Sⁿ_2n{S^{n}_{2n}} has a multilinear formula of size O(n ²), we obtain a superpolynomial separation between multilinear and multilinear homogeneous formulas. We also show that S^k_n{S^k_n} can be computed by homogeneous formulas of size k^O(logk)n{k^{O(\log k)}n} , answering a question of Nisan and Wigderson. Finally, we present a superpolynomial separation between monotone and non-monotone formulas in the noncommutative setting, answering a question of Nisan.     

The Computational Complexity of Some Julia Sets

Numerous computer programs have been written to compute sets of points which approximate Julia sets [4]. Usually, no error estimations are added so that it remains unclear, how good such approximations are. Furthermore, high precision pictures are unreliable because of rounding errors, since the realizing computer programs use fixed length floating point numbers. Computable error estimation w.r.t. the Hausdorff metric d_H means that the set is recursive [10]. Many Julia sets J are recursive [11]. Recursive compact subsets of the Euclidean plane have a computable Turing machine time complexity [10]. In this paper we prove that the Julia set of a complex function f(z) = z² + c for c < 1/4 can be computed locally in time O(k²M(k)) (where M(k) is a time bound for multiplication of k-bit integers). Roughly speaking, the local time complexity is the number of Turing machine steps to decide for a single point whether it belongs to a grid K_k (2^−k · )² such that d_H(K_k,J) ≤ = 2^−k.     

On the Hardness of Approximating Spanners

A k -spanner of a connected graph G=(V,E) is a subgraph G' consisting of all the vertices of V and a subset of the edges, with the additional property that the distance between any two vertices in G' is larger than the distance in G by no more than a factor of k . This paper concerns the hardness of finding spanners with a number of edges close to the optimum. It is proved that for every fixed k , approximating the spanner problem is at least as hard as approximating the set-cover problem. We also consider a weighted version of the spanner problem, and prove an essential difference between the approximability of the case k=2 and the case k\geq 5 . Received October 30, 1998; revised March 4, 1999, and April 17, 2000.     

Finding a Region with the Minimum Total L1 Distance from Prescribed Terminals

Given k terminals and n axis-parallel rectangular obstacles on the plane, our algorithm finds a plane region R ^* such that, for any point p in R ^* , the total length of the k shortest rectilinear paths connecting p and the k terminals without passing through any obstacle is minimum. The algorithm is output-sensitive, and takes O((K+n) log n) time and O(K+n) space if k is a fixed constant, where K is the total number of polygonal vertices of the found region R ^* .     

A New Approach for the Geodesic Voronoi Diagram of Points in a Simple Polygon and Other Restricted Polygonal Domains

We introduce a new method for computing the geodesic Voronoi diagram of point sites in a simple polygon and other restricted polygonal domains. Our method combines a sweep of the polygonal domain with the merging step of a usual divide-and-conquer algorithm. The time complexity is O((n+k) log(n+k)) where n is the number of vertices and k is the number of points, improving upon previously known bounds. Space is O(n+k) . Other polygonal domains where our method is applicable include (among others) a polygonal domain of parallel disjoint line segments and a polygonal domain of rectangles in the L ₁ metric. Received February 15, 1996; revised November 2, 1996.     

d-Dimensional Range Search on Multicomputers

The range tree is a fundamental data structure for multidimensional point sets, and, as such, is central in a wide range of geometric and database applications. In this paper we describe the first nontrivial adaptation of range trees to the parallel distributed memory setting (BSP-like models). Given a set of n points in d -dimensional Cartesian space, we show how to construct on a coarse-grained multicomputer a distributed range tree T in time O( s / p + T _c (s,p)) , where s = n log ^d-1 n is the size of the sequential data structure and T _c (s,p) is the time to perform an h -relation with h=Θ (s/p) . We then show how T can be used to answer a given set Q of m=O(n) range queries in time O((s log m)/p + T _c (s,p)) and O((s log m)/p + T _c (s,p) + k/p) , where k is the number of results to be reported. These parallel construction and search algorithms are both highly efficient, in that their running times are the sequential time divided by the number of processors, plus a constant number of parallel communication rounds. Received June 1, 1997; revised March 10, 1998.     

Minimizing Makespan in Batch Machine Scheduling

We study the scheduling of a set of n jobs, each characterized by a release (arrival) time and a processing time, for a batch processing machine capable of running at most B jobs at a time. We obtain an O(n log n)-time algorithm when B is unbounded. When there are only m distinct release times and the inputs are integers, we obtain an O(n(BR_max)^m-1(2/m)^m-3)-time algorithm where R_max is the difference between the maximum and minimum release times. When there are k distinct processing times and m release times, we obtain an O(n log m + k^k+2 B^k+1 m² log m)-time algorithm. We obtain even better algorithms for m=2 and for k=1. These algorithms improve most of the corresponding previous algorithms for the respective special cases and lead to improved approximation schemes for the general problem.     

Two-Way and Multiway Partitioning of a Set of Intervals for Clique-Width Maximization

For a set S of intervals, the clique-interva I _S is defined as the interval obtained from the intersection of all the intervals in S , and the clique-width quantity w _S is defined as the length of I _S . Given a set S of intervals, it is straightforward to compute its clique-interval and clique-width. In this paper we study the problem of partitioning a set of intervals in order to maximize the sum of the clique-widths of the partitions. We present an O(n log n) time algorithm for the balanced bipartitioning problem, and an O(k n ² ) time algorithm for the k -way unbalanced partitioning problem. Received May 27, 1997; revised October 30, 1997.     

The Directed Orienteering Problem

This paper studies vehicle routing problems on asymmetric metrics. Our starting point is the directed k-TSP problem: given an asymmetric metric (V,d), a root r∈V and a target k≤|V|, compute the minimum length tour that contains r and at least k other vertices. We present a polynomial time O(\fraclog² nloglogn·logk)O(\frac{\log^{2} n}{\log\log n}\cdot\log k)-approximation algorithm for this problem. We use this algorithm for directed k-TSP to obtain an O(\fraclog² nloglogn)O(\frac{\log^{2} n}{\log\log n})-approximation algorithm for the directed orienteering problem. This answers positively, the question of poly-logarithmic approximability of directed orienteering, an open problem from Blum et al. (SIAM J. Comput. 37(2):653–670, 2007). The previously best known results were quasi-polynomial time algorithms with approximation guarantees of O(log ² k) for directed k-TSP, and O(log n) for directed orienteering (Chekuri and Pal in IEEE Symposium on Foundations in Computer Science, pp. 245–253, 2005). Using the algorithm for directed orienteering within the framework of Blum et al. (SIAM J. Comput. 37(2):653–670, 2007) and Bansal et al. (ACM Symposium on Theory of Computing, pp. 166–174, 2004), we also obtain poly-logarithmic approximation algorithms for the directed versions of discounted-reward TSP and vehicle routing problem with time-windows.     

Steiner Minimal Trees with One Polygonal Obstacle

In this paper we study the Steiner minimal tree T problem for a point set Z with cardinality n and one polygonal obstacle ω in the Euclidean plane. We assume ω touches only one convex path in T that joins two terminals and that the number of extreme points of the obstacle is k . If all degree 2 vertices are omitted, then the topology of T is called the primitive topology of T . Given a full primitive topology along with ω convex, we prove that T can be determined in O(n ² +nlog ² k) time. Further, if ω is nonconvex, we then show that O(n ² +nklog k) time is required. Received April 16, 1996; revised August 18, 1997.     

An Efficient Output-Size Sensitive Parallel Algorithm for Hidden-Surface Removal for Terrains

We describe an efficient parallel algorithm for hidden-surface removal for terrain maps. The algorithm runs in O(log ⁴ n) steps on the CREW PRAM model with a work bound of O((n+k) \polylog ( n)) where n and k are the input and output sizes, respectively. In order to achieve the work bound we use a number of techniques, among which our use of persistent data structures is somewhat novel in the context of parallel algorithms. Received July 29, 1998; revised October 5, 1999.     

Simple Algorithms for the On-Line Multidimensional Dictionary and Related Problems

The on-line multidimensional dictionary problem consists of executing on-line any sequence of the following operations: INSERT(p) , DELETE(p) , and MEM-BER-SHIP(p) , where p is any (ordered) d -tuple (or string with d elements, or points in d -space where the dimensions have been ordered). We introduce a clean structure based on balanced binary search trees, which we call multidimensional balanced binary search trees, to represent the set of d -tuples. We present algorithms for each of the above operations that take O(d + log n) time, where n is the current number of d -tuples in the set, and each INSERT and DELETE operation requires no more than a constant number of rotations. Our structure requires dn words to represent the input, plus O(n) pointers and data indicating the first component where pairs of d -tuples differ. This information, which can be easily updated, enables us to test for MEMBERSHIP efficiently. Other operations that can be performed efficiently in our multidimensional balanced binary search trees are: print in lexicographic order (O(dn) time), find the (lexicographically) smallest or largest d -tuple (O( log n) time), and concatenation (O(d + log n) time). Finding the (lexicographically) k th smallest or largest d -tuple can also be implemented efficiently (O( log n) time), at the expense of adding an integer value at each node. Received June 13, 1997; revised September 3, 1998.