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71
An Incremental Algorithm for a Generalization of the ShortestPath Problem
, 1992
"... The grammar problem, a generalization of the singlesource shortestpath problem introduced by Knuth, is to compute the minimumcost derivation of a terminal string from each nonterminal of a given contextfree grammar, with the cost of a derivation being suitably defined. This problem also subsume ..."
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Cited by 147 (1 self)
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The grammar problem, a generalization of the singlesource shortestpath problem introduced by Knuth, is to compute the minimumcost derivation of a terminal string from each nonterminal of a given contextfree grammar, with the cost of a derivation being suitably defined. This problem also subsumes the problem of finding optimal hyperpaths in directed hypergraphs (under varying optimization criteria) that has received attention recently. In this paper we present an incremental algorithm for a version of the grammar problem. As a special case of this algorithm we obtain an efficient incremental algorithm for the singlesource shortestpath problem with positive edge lengths. The aspect of our work that distinguishes it from other work on the dynamic shortestpath problem is its ability to handle "multiple heterogeneous modifications": between updates, the input graph is allowed to be restructured by an arbitrary mixture of edge insertions, edge deletions, and edgelength changes.
A New Approach to Dynamic All Pairs Shortest Paths
, 2002
"... We study novel combinatorial properties of graphs that allow us to devise a completely new approach to dynamic all pairs shortest paths problems. Our approach yields a fully dynamic algorithm for general directed graphs with nonnegative realvalued edge weights that supports any sequence of operatio ..."
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Cited by 89 (8 self)
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We study novel combinatorial properties of graphs that allow us to devise a completely new approach to dynamic all pairs shortest paths problems. Our approach yields a fully dynamic algorithm for general directed graphs with nonnegative realvalued edge weights that supports any sequence of operations in e O(n amortized time per update and unit worstcase time per distance query, where n is the number of vertices. We can also report shortest paths in optimal worstcase time. These bounds improve substantially over previous results and solve a longstanding open problem. Our algorithm is deterministic and uses simple data structures.
Hierarchical encoded path views for path query processing: An optimal model and its performance evaluation
 IEEE Transactions on Knowledge and Data Engineering
, 1998
"... Abstract—Efficient path computation is essential for applications such as intelligent transportation systems (ITS) and network routing. In ITS navigation systems, many path requests can be submitted over the same, typically huge, transportation network within a small time window. While path precompu ..."
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Cited by 87 (2 self)
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Abstract—Efficient path computation is essential for applications such as intelligent transportation systems (ITS) and network routing. In ITS navigation systems, many path requests can be submitted over the same, typically huge, transportation network within a small time window. While path precomputation (path view) would provide an efficient path query response, it raises three problems which must be addressed: 1) precomputed paths exceed the current computer main memory capacity for large networks; 2) diskbased solutions are too inefficient to meet the stringent requirements of these target applications; and 3) path views become too costly to update for large graphs (resulting in outofdate query results). We propose a hierarchical encoded path view (HEPV) model that addresses all three problems. By hierarchically encoding partial paths, HEPV reduces the view encoding time, updating time and storage requirements beyond previously known path precomputation techniques, while significantly minimizing path retrieval time. We prove that paths retrieved over HEPV are optimal. We present complete solutions for all phases of the HEPV approach, including graph partitioning, hierarchy generation, path view encoding and updating, and path retrieval. In this paper, we also present an indepth experimental evaluation of HEPV based on both synthetic and real GIS networks. Our results confirm that HEPV offers advantages over alternative path finding approaches in terms of performance and space efficiency. Index Terms—Path queries, path view materialization, hierarchical path search, GIS databases, graph partitioning. 1
On the Computational Complexity of Dynamic Graph Problems
 THEORETICAL COMPUTER SCIENCE
, 1996
"... ..."
Fully Dynamic Algorithms for Maintaining AllPairs Shortest Paths and Transitive Closure in Digraphs
 IN PROC. 40TH IEEE SYMPOSIUM ON FOUNDATIONS OF COMPUTER SCIENCE (FOCS’99
, 1999
"... This paper presents the first fully dynamic algorithms for maintaining allpairs shortest paths in digraphs with positive integer weights less than b. For approximate shortest paths with an error factor of (2 + ffl), for any positive constant ffl, the amortized update time is O(n 2 log 2 n= log ..."
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Cited by 78 (0 self)
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This paper presents the first fully dynamic algorithms for maintaining allpairs shortest paths in digraphs with positive integer weights less than b. For approximate shortest paths with an error factor of (2 + ffl), for any positive constant ffl, the amortized update time is O(n 2 log 2 n= log log n); for an error factor of (1 + ffl) the amortized update time is O(n 2 log 3 (bn)=ffl 2 ). For exact shortest paths the amortized update time is O(n 2:5 p b log n). Query time for exact and approximate shortest distances is O(1); exact and approximate paths can be generated in time proportional to their lengths. Also presented is a fully dynamic transitive closure algorithm with update time O(n 2 log n) and query time O(1). The previously known fully dynamic transitive closure algorithm with fast query time has onesided error and update time O(n 2:28 ). The algorithms use simple data structures, and are deterministic.
New Dynamic Algorithms for Shortest Path Tree Computation
 IEEE/ACM Transactions on Networking
, 2000
"... The OSPF and ISIS routing protocols widely used in today's Internet compute a shortest path tree (SPT) from each router to other routers in a routing area. Many existing commercial routers recompute an SPT from scratch following changes in the link states of the network. Such recomputation of ..."
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Cited by 75 (1 self)
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The OSPF and ISIS routing protocols widely used in today's Internet compute a shortest path tree (SPT) from each router to other routers in a routing area. Many existing commercial routers recompute an SPT from scratch following changes in the link states of the network. Such recomputation of an entire SPT is inecient and may consume a considerable amount of CPU time. Moreover, as there may coexist multiple SPTs in a network with a set of given link states, recomputation from scratch causes frequent unnecessary changes in the topology of an existing SPT and may lead to routing instability. In this paper, we present new dynamic SPT algorithms that make use of the structure of the previously computed SPT. Besides efficiency, our algorithm design objective is to achieve routing stability by making minimum changes to the topology of an existing SPT (while maintaining shortest path property) when some link states in the network have changed. We establish an algorithmic framework that allows ...
Dynamic Graph Algorithms
, 1999
"... Introduction In many applications of graph algorithms, including communication networks, graphics, assembly planning, and VLSI design, graphs are subject to discrete changes, such as additions or deletions of edges or vertices. In the last decade there has been a growing interest in such dynamicall ..."
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Cited by 66 (1 self)
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Introduction In many applications of graph algorithms, including communication networks, graphics, assembly planning, and VLSI design, graphs are subject to discrete changes, such as additions or deletions of edges or vertices. In the last decade there has been a growing interest in such dynamically changing graphs, and a whole body of algorithms and data structures for dynamic graphs has been discovered. This chapter is intended as an overview of this field. In a typical dynamic graph problem one would like to answer queries on graphs that are undergoing a sequence of updates, for instance, insertions and deletions of edges and vertices. The goal of a dynamic graph algorithm is to update efficiently the solution of a problem after dynamic changes, rather than having to recompute it from scratch each time. Given their powerful versatility, it is not surprising that dynamic algorithms and dynamic data structures are often more difficult to design and analyze than their static c
Lifelong Planning A*
, 2005
"... Heuristic search methods promise to find shortest paths for pathplanning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar pathplanning problems faster than is possible by solving each pathplanning p ..."
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Cited by 57 (3 self)
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Heuristic search methods promise to find shortest paths for pathplanning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar pathplanning problems faster than is possible by solving each pathplanning problem from scratch. In this article, we develop Lifelong Planning A * (LPA*), an incremental version of A * that combines ideas from the artificial intelligence and the algorithms literature. It repeatedly finds shortest paths from a given start vertex to a given goal vertex while the edge costs of a graph change or vertices are added or deleted. Its first search is the same as that of a version of A * that breaks ties in favor of vertices with smaller gvalues but many of the subsequent searches are potentially faster because it reuses those parts of the previous search tree that are identical to the new one. We present analytical results that demonstrate its similarity to A * and experimental results that demonstrate its potential advantage in two different domains if the pathplanning problems change only slightly and the changes are close to the goal.
Fast replanning for navigation in unknown terrain
 Transactions on Robotics
"... Abstract—Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz ’ Fo ..."
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Cited by 52 (10 self)
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Abstract—Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz ’ Focussed Dynamic A (D) is a heuristic search method that repeatedly determines a shortest path from the current robot coordinates to the goal coordinates while the robot moves along the path. It is able to replan faster than planning from scratch since it modifies its previous search results locally. Consequently, it has been extensively used in mobile robotics. In this article, we introduce an alternative to D that determines the same paths and thus moves the robot in the same way but is algorithmically different. D Lite is simple, can be rigorously analyzed, extendible in multiple ways, and is at least as efficient as D. We believe that our results will make Dlike replanning methods even more popular and enable robotics researchers to adapt them to additional applications. Index Terms—A, D (Dynamic A), navigation in unknown terrain, planning with the freespace assumption, replanning, search, sensorbased path planning. I.