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增量式单源最短路径(Incremental Single-Source Shortest Paths, ISSSP)问题是一个在图理论和算法设计中常见的动态问题。在这个问题中,我们有一张加权有向图 𝐺=(𝑉,𝐸),其中节点集合𝑉 和边集合𝐸 可能会经历边的插入和删除操作。给定一个源节点 𝑠 ∈ 𝑉,目标是维护从源节点到图中所有其他节点的距离𝑑(𝑠,𝑡)。
在动态图算法领域,对于精确的动态SSSP和近似完全动态SSSP已经有许多研究,并且通过精细复杂性分析得到了一些强下界。然而,对于有向图的近似部分动态SSSP问题,目前还没有比经典的ES树(ES-Tree)算法效率更高的确定性算法。ES树是由Edmonds和Johnson在1981年提出的,它提供了一种有效的方法来处理动态最短路径问题,但其性能在某些情况下可能不是最优的。
本文提出了一种新的确定性数据结构,用于处理加权有向图中的增量SSSP问题。这个数据结构的总更新时间是 ˜𝑂(𝑛2 log𝑊 /𝜖𝑂(1)),这在非常稠密的图中接近最优,其中 𝑊 是图中最大权重与最小权重的比例。该算法在边数𝑚为𝑛1.1阶时,相对于Henzinger等人在STOC'14和ICALP'15中提出的最佳部分动态随机算法有所改进。
此外,文章还提供了对现有算法的条件性下界。Henzinger等人在STOC'15中利用OMv假设证明了在无向图中,部分动态精确的𝑠-𝑡最短路径问题需要有平均更新或查询时间𝑚1/2−𝑜(1),前提是允许多项式预处理时间。作者们提出了一个新的关于寻找团(Clique)的假设,从而将具有多项式预处理时间的算法的更新和查询下界提升到𝑚0.626−𝑜(1)。进一步地,基于𝑘-Cycle假设,他们展示了任何部分动态SSSP算法都需要至少这样的时间复杂度。
这篇文章贡献了一个在有向图增量SSSP问题上的突破性算法,提高了效率,并且通过引入新的假设和下界,推动了动态最短路径问题的研究边界。这对于理解动态图算法的潜力以及限制,以及未来算法设计的方向都有着重要意义。
New Algorithms and Hardness for Incremental Single-Source
Shortest Paths in Directed Graphs
∗
Maximilian Probst Gutenberg
University of Copenhagen
Copenhagen, Denmark
maximilian.probst@outlook.com
Virginia Vassilevska Williams
MIT
USA
Nicole Wein
MIT
USA
ABSTRACT
In the dynamic Single-Source Shortest Paths (SSSP) problem, we are
given a graph
𝐺 = (𝑉, 𝐸)
subject to edge insertions and deletions
and a source vertex
𝑠 ∈ 𝑉
, and the goal is to maintain the distance
𝑑 (𝑠, 𝑡) for all 𝑡 ∈ 𝑉 .
Fine-grained complexity has provided strong lower bounds for
exact partially dynamic SSSP and approximate fully dynamic SSSP
[ESA’04, FOCS’14, STOC’15]. Thus much focus has been directed
towards nding ecient partially dynamic
(
1
+ 𝜖)
-approximate
SSSP algorithms [STOC’14, ICALP’15, SODA’14, FOCS’14, STOC’16,
SODA’17, ICALP’17, ICALP’19, STOC’19, SODA’20, SODA’20]. De-
spite this rich literature, for directed graphs there are no known
deterministic algorithms for
(
1
+ 𝜖)
-approximate dynamic SSSP
that perform better than the classic ES-tree [JACM’81]. We present
the rst such algorithm.
We present a deterministic data structure for incremental SSSP in
weighted directed graphs with total update time
˜
𝑂 (𝑛
2
log𝑊 /𝜖
𝑂 (1)
)
which is near-optimal for very dense graphs; here
𝑊
is the ratio of
the largest weight in the graph to the smallest. Our algorithm also
improves over the best known partially dynamic randomized algo-
rithm for directed SSSP by Henzinger et al. [STOC’14, ICALP’15] if
𝑚 = 𝜔 (𝑛
1.1
).
Complementing our algorithm, we provide improved conditional
lower bounds. Henzinger et al. [STOC’15] showed that under the
OMv Hypothesis, the partially dynamic exact
𝑠
-
𝑡
Shortest Path
problem in undirected graphs requires amortized update or query
time
𝑚
1/2−𝑜 (1)
, given polynomial preprocessing time. Under a new
hypothesis about nding Cliques, we improve the update and query
lower bound for algorithms with polynomial preprocessing time to
𝑚
0.626−𝑜 (1)
. Further, under the
𝑘
-Cycle hypothesis, we show that
any partially dynamic SSSP algorithm with
𝑂 (𝑚
2−𝜖
)
preprocess-
ing time requires amortized update or query time
𝑚
1−𝑜 (1)
, which
∗
The rst author was visiting Massachusetts Institute of Technology, Massachusetts,
US, when the work was done and is supported by Thorup’s Investigator Grant from the
Villum Foundation under Grant No. 16582 and by STIBOFONDEN’s IT Travel Grant
for PhD Students. The second author is supported by an NSF CAREER Award, NSF
Grants CCF-1528078 and CCF-1514339, a BSF Grant BSF:2012338, a Sloan Research
Fellowship and a Google faculty fellowship. The third author is supported by an NSF
Graduate Fellowship and NSF Grant CCF-1514339.
Permission to make digital or hard copies of all or part of this work for personal or
classroom use is granted without fee provided that copies are not made or distributed
for prot or commercial advantage and that copies bear this notice and the full citation
on the rst page. Copyrights for components of this work owned by others than the
author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or
republish, to post on servers or to redistribute to lists, requires prior specic permission
and/or a fee. Request permissions from permissions@acm.org.
STOC ’20, June 22–26, 2020, Chicago, IL, USA
© 2020 Copyright held by the owner/author(s). Publication rights licensed to ACM.
ACM ISBN 978-1-4503-6979-4/20/06.. . $15.00
https://doi.org/10.1145/3357713.3384236
is essentially optimal. All previous conditional lower bounds that
come close to our bound [ESA’04,FOCS’14] only held for “combina-
torial” algorithms, while our new lower bound does not make such
restrictions.
CCS CONCEPTS
• Theory of computation → Dynamic graph algorithms
; Data
structures design and analysis.
KEYWORDS
dynamic algorithm, shortest path, single source shortest path, con-
ditional lower bound
ACM Reference Format:
Maximilian Probst Gutenberg, Virginia Vassilevska Williams, and Nicole
Wein. 2020. New Algorithms and Hardness for Incremental Single-Source
Shortest Paths in Directed Graphs. In Proceedings of the 52nd Annual ACM
SIGACT Symposium on The ory of Computing (STOC ’20), June 22–26, 2020,
Chicago, IL, USA. ACM, New York, NY, USA, 14 pages. https://doi.org/10.
1145/3357713.3384236
1 INTRODUCTION
A dynamic graph
𝐺
is a sequence of graphs
𝐺
0
, 𝐺
1
, . . . , 𝐺
𝑡
such
that
𝐺
0
is the initial graph that is subsequently undergoing edge
updates such that every two consecutive versions
𝐺
𝑖
and
𝐺
𝑖+1
of
the dynamic graph
𝐺
dier only in one edge (or the weight of one
edge). If the sequence of update operations consists only of edge
deletions and weight increases, we say that
𝐺
is a decremental graph
and if the update operations are restricted to edge insertions and
weight decreases, we say that G is incremental. In either case, we
say that
𝐺
is partially dynamic and if the update sequence is mixed
we say 𝐺 is fully dynamic.
In the study of dynamic graph algorithms, we are concerned
with maintaining properties of
𝐺
eciently. More precisely, we are
concerned with designing a data structure that supports update and
query operations such that after the
𝑖
𝑡ℎ
edge update is processed,
an adversary can query properties of 𝐺
𝑖
.
We consider the problem of (approximate) Single-Source Shortest
Paths (SSSP) in a partially dynamic graph
𝐺
. In this problem, a
dedicated source vertex
𝑠 ∈ 𝑉
is given on initialization and the
query operation takes as input any vertex
𝑡 ∈ 𝑉
and outputs the
(approximate) shortest-path distance estimate
ˆ
𝑑 (𝑠, 𝑡)
from
𝑠
to
𝑡
in
the current version of
𝐺
. We say that distance estimates have stretch
𝛼 ≥
1, if the algorithm guarantees that
𝑑 (𝑠, 𝑡) ≤
ˆ
𝑑 (𝑠, 𝑡) ≤ 𝛼𝑑(𝑠, 𝑡 )
is satised for every distance estimate where
𝑑 (𝑠, 𝑡)
denotes the
distance from 𝑠 to 𝑡 in the current version of 𝐺.
When proving lower bounds for partially dynamic SSSP, we also
consider a potentially easier problem,
𝑠
-
𝑡
Shortest Path (
𝑠
-
𝑡
SP), thus
153
STOC ’20, June 22–26, 2020, Chicago, IL, USA Maximilian Probst Gutenberg, Virginia Vassilevska Williams, Nicole Wein
obtaining stronger lower bounds. In
𝑠
-
𝑡
SP, one wants to maintain
a shortest path from 𝑠 to 𝑡 for some xed 𝑠 and 𝑡.
1.1 Motivation
Partially dynamic SSSP is a well-motivated problem with wide-
ranging applications:
•
Partially dynamic data structures are often used as internal
data structures to solve the fully dynamic version of the
problem (see for example [
42
,
46
,
51
] for applications of par-
tially dynamic SSSP) which in turn can be used to maintain
properties of real-world graphs undergoing changes.
•
Partially dynamic SSSP is often employed as internal data
structure for related problems such as maintaining the di-
ameter in partially dynamic graphs [
12
,
25
] or matchings in
incremental bipartite graphs [20].
•
Many static algorithms use partially dynamic algorithms as
a subroutine. For example, incremental All-Pairs Shortest
Paths can be used to construct light spanners [
10
] and greedy
spanners. Moreover, a recent line of research shows that
many ow problems can be reduced to decremental SSSP,
and recent progress has already led to faster algorithms
for multi-commodity ow [
49
], vertex-capacitated ow, and
sparsest vertex-cut [27].
1.2 Prior Work
In this section we discuss prior work directly related to our results.
We use
˜
𝑂
notation to suppress factors of
log 𝑛
and assume constant
𝜖
in the approximation. For a more detailed discussion of prior
results, we refer the reader to the full version of the article.
Let
𝑚
be the maximum number of edges and let
𝑛
be the max-
imum number of vertices
1
in any version of the dynamic input
graph
𝐺
. If
𝐺
is weighted, we denote by
𝑊
the aspect ratio of the
graph, which is the largest weight divided by the smallest weight in
the graph. For partially dynamic algorithms, we follow the conven-
tion of stating the total update time rather than the time for each
individual update. Unless otherwise stated, queries take worst-case
constant time.
Algorithms for partially dynamic directed SSSP.
For directed
graphs, the classic ES-tree data structure by Even and Shiloach
[
53
] and its later extensions by Henzinger and King [
45
] initi-
ated the eld, with total update time
𝑂 (𝑚𝑛𝑊 )
for exact incremen-
tal/decremental directed SSSP. Using an edge rounding technique
[
15
,
16
,
28
,
49
,
50
,
58
], the ES-tree can further handle edge weights
more eciently, giving an
˜
𝑂 (𝑚𝑛 log𝑊 )
time algorithm for incre-
mental/decremental
(
1
+𝜖)
-approximate directed SSSP. This result
has been improved to total update time
𝑚𝑛
9/10+𝑜 (1)
log𝑊
by the
breakthrough results of Henzinger, Forster, and Nanongkai [
40
,
41
].
Their algorithm is Monte Carlo and works against an oblivious
adversary (an adversary that xes the entire graph sequence of up-
dates in advance). Whilst presented only in the decremental setting,
this algorithm appears to extend to the incremental setting.
Very recently, Probst and Wul-Nilsen [
37
] improved upon this
result and presented a randomized data structure for decremental
directed SSSP against an oblivious adversary with total update time
1
Some algorithms allow vertex updates, therefore the number of vertices might be due
to change.
˜
𝑂 (min{𝑚𝑛
3/4
log𝑊 , 𝑚
3/4
𝑛
5/4
log𝑊 })
. They also give a Las Vegas
algorithm with total update time
˜
𝑂 (𝑚
3/4
𝑛
5/4
log𝑊 )
that works
against an adaptive adversary. They also get slightly improved
bounds for unweighted decremental graphs. We point out, however,
that their data structure cannot return approximate shortest paths
to the adversary as it would reveal the random choices. Further,
unlike the data structure by Henzinger et al., their approach cannot
be extended to the incremental setting since it relies heavily on
nding ecient separators and on maintaining the topological
order of vertices in the graph.
In summary, all known partially dynamic algorithms for directed
graphs that are faster than ES-trees are randomized, and their amor-
tized update time even for 𝑚 ∼ 𝑛
2
insertions is at least some poly-
nomial. Moreover, it is unclear how to extend the result from [
37
] to
the incremental setting. This is in stark contrast to the undirected
setting where the currently best bounds for decremental graphs
[
18
,
38
,
39
] extend straight-forwardly to incremental graphs. This
is reminiscent of the connectivity problem, which in undirected
incremental graphs is almost trivial while the problem of main-
taining strong-connectivity in directed graphs is solved to near-
optimality in decremental graphs [
21
] but still not fully understood
in incremental graphs [
14
,
17
,
22
]. We believe that understand-
ing strong-connectivity might be a preliminary for understanding
single-source shortest paths in directed graphs.
Lower bounds.
Conditional lower bounds for partially dynamic
SSSP were rst studied by Roditty and Zwick [
51
]. They showed
that in the weighted setting, APSP can be reduced to partially
dynamic SSSP with
𝑂 (𝑛
2
)
updates and queries, thus implying that
the amortized query/update time must be
𝑛
1−𝑜 (1)
, unless APSP can
be solved in truly subcubic time (i.e. 𝑛
3−𝜖
for constant 𝜖 > 0).
For unweighted SSSP in the partially dynamic setting, there is a
weaker lower bound [
51
]: Under the Boolean Matrix Multiplication
(BMM) hypothesis, any combinatorial incremental/decremental
algorithm for unweighted SSSP requires amortized
𝑛
1−𝑜 (1)
up-
date/query time. Abboud and Vassilevska Williams [
3
] modied
the [
51
] construction to give stronger lower bounds even for the un-
weighted
𝑠
-
𝑡
SP problem: any combinatorial incremental/decremental
algorithm for unweighted
𝑠
-
𝑡
SP requires either amortized
𝑛
1−𝑜 (1)
update time or 𝑛
2−𝑜 (1)
query time.
We point out that the unweighted SSSP lower bounds of [
3
,
51
] are weak in two ways: (1) they are only for combinatorial
algorithms, and (2) they hold only when the number of edges
𝑚
is
quadratic in the number of vertices, so in terms of
𝑚
, the update
lower bound is merely
𝑚
0.5−𝑜 (1)
. Henzinger et al. [
44
] aimed to
rectify (1). They introduced a very believable assumption, the OMv
Hypothesis, which is believed to hold for arbitrary algorithms,
not merely combinatorial ones. Henzinger et al. [
44
] showed that
under the OMv Hypothesis, incremental/decremental
𝑠
-
𝑡
SP (in the
word-RAM model) requires
𝑚
0.5−𝑜 (1)
amortized update time
2
or
𝑚
1−𝑜 (1)
query time, thus obtaining the same lower bounds as under
the BMM Hypothesis, but now for not necessarily combinatorial
algorithms.
2
Similar to the lower bounds based on BMM, the Henzinger et al. [
44
] lower bound on
the update time is
𝑛
1−𝑜 (1
)
but the number of edges in the construction is quadratic in
𝑛, so that in terms of 𝑚, the lower bound is 𝑚
0.5−𝑜 (1)
.
154
New Algorithms and Hardness for Incremental Single-Source Shortest Paths in Directed Graphs STOC ’20, June 22–26, 2020, Chicago, IL, USA
1.3 Results
Our main result is a new elegant algorithm for the incremental
SSSP problem in weighted digraphs.
Theorem 1.1. There is a deterministic algorithm that given a
weighted digraph
𝐺 = (𝑉, 𝐸)
subject to
Δ
edge insertions and weight
decreases, a vertex
𝑠 ∈ 𝑉
, and
𝜖 >
0, maintains for every vertex
𝑣
an estimate
ˆ
𝑑 (𝑣)
such that after every update
𝑑 (𝑠, 𝑣) ≤
ˆ
𝑑 (𝑣) ≤
(
1
+ 𝜖)𝑑 (𝑠, 𝑣)
, and runs in total time
˜
𝑂 (𝑛
2
log𝑊 /𝜖
2.5
+ Δ)
. Path
queries are answered take time linear in the number of path edges.
Our result is the rst deterministic partially dynamic directed
SSSP algorithm to improve over the long-standing
𝑂 (𝑚𝑛)
time
bound achieved by the ES-tree [
53
]. Our result is essentially optimal
for very dense graphs, and is the rst algorithm with essentially
optimal update time for any density in directed graphs. Furthermore,
our algorithm further improves on the randomized
𝑚𝑛
0.9+𝑜 (1)
log𝑊
time algorithm of Henzinger et al. [
40
] if
𝑚 = 𝜔 (𝑛
1.1
)
(their paper
presents only in the decremental setting, but it appears to extend
to the incremental setting as well).
A further strength of our algorithm is that in addition to re-
turning distance estimates, it can also return the corresponding
approximate shortest paths, i.e. it is path-reporting. Previously
known path-reporting dynamic SSSP algorithms in the directed
setting except for the ES-tree are randomized against an oblivious
adversary. In this setting, we in fact also improve for undirected
graphs where the only path-reporting deterministic (or adaptive)
algorithms are the
˜
𝑂 (𝑚
7/4
𝑛
1/4
)
update time algorithm by Hen-
zinger, Forster and Nanongkai [
43
], and the randomized algorithm
for decremental graphs by by Chuzhoy and Khanna [
27
] which has
update time
𝑛
2+𝑜 (1)
and which even more recently derandomized
[
26
]. However, the latter algorithm works only in the restricted
setting of vertex deletions and requires 𝑛
1+𝑜 (1)
query time.
Our second contribution includes several new ne-grained lower
bounds for the partially dynamic SSSP and
𝑠
-
𝑡
-SP problems in un-
weighted undirected graphs. The only known conditional lower
bounds for partially dynamic SSSP and
𝑠
-
𝑡
-SP in unweighted graphs
give an update time lower bound of
𝑚
0.5−𝑜 (1)
. While the ES-tree
data structure does achieve an
𝑂 (
√
𝑚)
amortized update/query
time upper bound whenever
𝑚 = Θ(𝑛
2
)
, this upper bound does not
improve for lower sparsities. This motivates the following question:
Is partially dynamic SSSP solvable with amortized update/query time
𝑂 (
√
𝑚) for all sparsities 𝑚?
Our work answers this question with the tools of ne-grained
complexity. Our rst result is based on the following
𝑘
-Cycle hy-
pothesis (see [11, 48]).
Hypothesis 1.2
(
𝑘
-Cycle Hypothesis)
.
In the word-RAM model
with
𝑂 (log𝑚)
bit words, for any constant
𝜖 >
0, there exists a constant
integer
𝑘
, so that there is no
𝑂 (𝑚
2−𝜖
)
time algorithm that can detect
a 𝑘-cycle in an 𝑚-edge graph.
Our rst result says that under the
𝑘
-Cycle Hypothesis, if the
preprocessing time of a partially dynamic
𝑠
-
𝑡
-SP algorithm is sub-
quadratic
𝑂 (𝑚
2−𝜖
)
for
𝜖 >
0, then in fact the algorithm cannot
achieve truly sublinear,
𝑂 (𝑚
1−𝜖
′
)
amortized update and query time
for any
𝜖
′
>
0. This is a quadratic improvement over the previous
known lower bounds, and it is also tight, as trivial recomputation
achieves amortized update/query time 𝑂 (𝑚).
Theorem 1.3. Under Hypothesis 1.2, there can be no constant
𝜖 >
0
such that partially dynamic
𝑠
-
𝑡
SP in undirected graphs can be solved
with
𝑂 (𝑚
2−𝜖
)
preprocessing time, and
𝑂 (𝑚
1−𝜖
)
update and query
time, for all graph sparsities 𝑚.
A consequence of the proof of Theorem 1.3 above is that (under
Hypothesis 1.2) the
𝑂 (𝑚𝑛)
total update time achieved by ES-trees
is essentially optimal, also when
𝑚
is close to linear in
𝑛
. Recall
that the OMv lower bound only showed this for
𝑚 = Θ(𝑛
2
)
. While
the above lower bound is tight, it only holds for truly subquadratic
preprocessing time. Recall that the only known lower bound for
arbitrary polynomial preprocessing time is the
𝑚
0.5−𝑜 (1)
bound
under OMv.
We rst develop an intricate reduction that shows that an ef-
cient enough partially dynamic
𝑠
-
𝑡
SP algorithm can be used to
solve the 4-Clique problem. Then we dene an online version of
4-Clique, similar to OMv that is plausibly hard even for arbitrary
polynomial time preprocessing. We show that if 4-Clique requires
𝑛
𝑐−𝑜 (1)
time for some
𝑐
, then any algorithm for partially dynamic
𝑠
-
𝑡
SP with
𝑂 (𝑚
𝑐/2−𝜖
)
preprocessing time for some
𝜖 >
0, must have
update or query time at least
𝑚
(𝑐−2)/2−𝑜 (1)
. 4-Clique is known to
be solvable in
𝑂 (𝑛
3.252
)
time [
33
], and if the matrix multiplication
exponent
𝜔
is
>
2, the best running time for 4-clique would still be
truly supercubic. Thus, the update time in our conditional lower
bound,
𝑚
(𝑐−2)/2−𝑜 (1)
is polynomially better than
𝑚
0.5−𝑜 (1)
, as long
as
𝜔 >
2. Recent results [
4
,
5
] show that the known techniques for
matrix multiplication cannot show that 𝜔 is less than 2.16.
While the connection between clique detection and
𝑠
-
𝑡
SP is
interesting in its own right, it does not resolve the limitation on
the preprocessing time of our previous lower bound. To x this,
we introduce an online version of 4-Clique, generalizing the OMv
(actually the related OuMv [44]) problem:
Denition 1.4
(OMv3 problem)
.
In the OMv3 problem, we are given
an
𝑛 ×𝑛
Boolean matrix
𝐴
that can be preprocessed and then
𝑛
queries
consisting of three length
𝑛
Boolean vectors
𝑢, 𝑣, 𝑤
have to be answered
online by outputting the Boolean value
Ü
𝑖,𝑗,𝑘
(𝑢
𝑖
∧𝑣
𝑗
∧𝑤
𝑘
∧𝐴[𝑖, 𝑗] ∧𝐴[𝑗, 𝑘] ∧𝐴[𝑘, 𝑖]).
One can think of
𝑢, 𝑣, 𝑤
as giving the neighbors of an incom-
ing vertex
𝑞
in the three partitions of a tripartite graph, and then
the Boolean value just answers whether
𝑞
would be part of a 4-
Clique if it were added to the graph. This is the natural extension of
Henzinger et al.’s OuMv problem. OMv3 is easy to solve in
𝑂 (𝑛
𝜔
)
time per query by computing whether the neighborhood dened
by
𝑢, 𝑣, 𝑤
contains a triangle. We hypothesize that there is no bet-
ter algorithm, even if one is to preprocess the matrix in arbitrary
polynomial time:
Hypothesis 1.5
(OMv3 Hypothesis)
.
Any algorithm solving OMv3
with polynomial preprocessing time needs
𝑛
𝜔+1−𝑜 (1)
total time to
solve OMv3 in the word-RAM model with 𝑂 (log 𝑛) bit words.
Using this Hypothesis, using essentially the same reduction
as from 4-Clique to
𝑠
-
𝑡
SP, we obtain plausible conditional lower
155
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