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65
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 70 (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.
Exact and Approximate Distances in Graphs  a survey
 In ESA
, 2001
"... We survey recent and not so recent results related to the computation of exact and approximate distances, and corresponding shortest, or almost shortest, paths in graphs. We consider many different settings and models and try to identify some remaining open problems. ..."
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Cited by 60 (0 self)
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We survey recent and not so recent results related to the computation of exact and approximate distances, and corresponding shortest, or almost shortest, paths in graphs. We consider many different settings and models and try to identify some remaining open problems.
Fully Dynamic Transitive Closure: Breaking Through The O(n²) Barrier
 IN PROC. IEEE SYMPOSIUM ON FOUNDATIONS OF COMPUTER SCIENCE
, 2000
"... In this paper we introduce a general framework for casting fully dynamic transitive closure into the problem of reevaluating polynomials over matrices. With this technique, we improve the best known bounds for fully dynamic transitive closure. In particular, we devise a deterministic algorithm for g ..."
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Cited by 42 (7 self)
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In this paper we introduce a general framework for casting fully dynamic transitive closure into the problem of reevaluating polynomials over matrices. With this technique, we improve the best known bounds for fully dynamic transitive closure. In particular, we devise a deterministic algorithm for general directed graphs that achieves O(n²) amortized time for updates, while preserving unit worstcase cost for queries. In case of deletions only, our algorithm performs updates faster in O(n) amortized time. Our
Experimental analysis of dynamic all pairs shortest path algorithms
 In Proceedings of the fifteenth annual ACMSIAM symposium on Discrete algorithms
, 2004
"... We present the results of an extensive computational study on dynamic algorithms for all pairs shortest path problems. We describe our implementations of the recent dynamic algorithms of King and of Demetrescu and Italiano, and compare them to the dynamic algorithm of Ramalingam and Reps and to stat ..."
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Cited by 37 (5 self)
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We present the results of an extensive computational study on dynamic algorithms for all pairs shortest path problems. We describe our implementations of the recent dynamic algorithms of King and of Demetrescu and Italiano, and compare them to the dynamic algorithm of Ramalingam and Reps and to static algorithms on random, realworld and hard instances. Our experimental data suggest that some of the dynamic algorithms and their algorithmic techniques can be really of practical value in many situations. 1
Fully Dynamic All Pairs Shortest Paths with Real Edge Weights
 In IEEE Symposium on Foundations of Computer Science
, 2001
"... We present the first fully dynamic algorithm for maintaining all pairs shortest paths in directed graphs with realvalued edge weights. Given a dynamic directed graph G such that each edge can assume at most S di#erent real values, we show how to support updates in O(n amortized time and que ..."
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Cited by 36 (10 self)
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We present the first fully dynamic algorithm for maintaining all pairs shortest paths in directed graphs with realvalued edge weights. Given a dynamic directed graph G such that each edge can assume at most S di#erent real values, we show how to support updates in O(n amortized time and queries in optimal worstcase time. No previous fully dynamic algorithm was known for this problem. In the special case where edge weights can only be increased, we give a randomized algorithm with onesided error which supports updates faster in O(S We also show how to obtain query/update tradeo#s for this problem, by introducing two new families of algorithms. Algorithms in the first family achieve an update bound of O(n/k), and improve over the best known update bounds for k in the . Algorithms in the second family achieve an update bound of ), and are competitive with the best known update bounds (first family included) for k in the range (n/S) # Work partially supported by the IST Programme of the EU under contract n. IST199914. 186 (ALCOMFT) and by CNR, the Italian National Research Council, under contract n. 01.00690.CT26. Portions of this work have been presented at the 42nd Annual Symp. on Foundations of Computer Science (FOCS 2001) [8] and at the 29th International Colloquium on Automata, Languages, and Programming (ICALP'02) [9].
Improved Dynamic Reachability Algorithms for Directed Graphs
, 2002
"... We obtain several new dynamic algorithms for maintaining the transitive closure of a directed graph, and several other algorithms for answering reachability queries without explicitly maintaining a transitive closure matrix. Among our algorithms are: (i) A decremental algorithm for maintaining the ..."
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Cited by 30 (5 self)
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We obtain several new dynamic algorithms for maintaining the transitive closure of a directed graph, and several other algorithms for answering reachability queries without explicitly maintaining a transitive closure matrix. Among our algorithms are: (i) A decremental algorithm for maintaining the transitive closure of a directed graph, through an arbitrary sequence of edge deletions, in O(mn) total expected time, essentially the time needed for computing the transitive closure of the initial graph. Such a result was previously known only for acyclic graphs.
A fully dynamic reachability algorithm for directed graphs with an almost linear update time
 In Proc. of ACM Symposium on Theory of Computing
, 2004
"... We obtain a new fully dynamic algorithm for the reachability problem in directed graphs. Our algorithm has an amortized update time of O(m+n log n) and a worstcase query time of O(n), where m is the current number of edges in the graph, and n is the number of vertices in the graph. Each update oper ..."
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Cited by 29 (2 self)
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We obtain a new fully dynamic algorithm for the reachability problem in directed graphs. Our algorithm has an amortized update time of O(m+n log n) and a worstcase query time of O(n), where m is the current number of edges in the graph, and n is the number of vertices in the graph. Each update operation either inserts a set of edges that touch the same vertex, or deletes an arbitrary set of edges. The algorithm is deterministic and uses fairly simple data structures. This is the first algorithm that breaks the O(n 2) update barrier for all graphs with o(n 2)edges. One of the ingredients used by this new algorithm may be interesting in its own right. It is a new dynamic algorithm for strong connectivity in directed graphs with an interesting persistency property. Each insert operation creates a new version of the graph. A delete operation deletes edges from all versions. Strong connectivity queries can be made on each version of the graph. The algorithm handles each update in O(mα(m, n)) amortized time, and each query in O(1) time, where α(m, n) is a functional inverse of Ackermann’s function appearing in the analysis of the unionfind data structure. Note that the update time of O(mα(m, n)), in case of a delete operation, is the time needed for updating all versions of the graph. Categories and Subject Descriptors G.2.2 [Discrete Mathematics]: Graph Theory—Graph algorithms, Path and circuit problems
Cell probe complexity  a survey
 In 19th Conference on the Foundations of Software Technology and Theoretical Computer Science (FSTTCS), 1999. Advances in Data Structures Workshop
"... The cell probe model is a general, combinatorial model of data structures. We give a survey of known results about the cell probe complexity of static and dynamic data structure problems, with an emphasis on techniques for proving lower bounds. 1 ..."
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Cited by 28 (0 self)
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The cell probe model is a general, combinatorial model of data structures. We give a survey of known results about the cell probe complexity of static and dynamic data structure problems, with an emphasis on techniques for proving lower bounds. 1
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 24 (8 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.
Finding timedependent shortest paths over large graphs
 In Proc. EDBT
, 2008
"... The spatial and temporal databases have been studied widely and intensively over years. In this paper, we study how to answer queries of finding the best departure time that minimizes the total travel time from a place to another, over a road network, where the traffic conditions dynamically change ..."
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Cited by 24 (1 self)
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The spatial and temporal databases have been studied widely and intensively over years. In this paper, we study how to answer queries of finding the best departure time that minimizes the total travel time from a place to another, over a road network, where the traffic conditions dynamically change from time to time. We study a generalized form of this problem, called the timedependent shortestpath problem. A timedependent graph GT is a graph that has an edgedelay function, wi,j(t), associated with each edge (vi, vj), to be stored in a database. The edgedelay function wi,j(t) specifies how much time it takes to travel from node vi to node vj, if it departs from vi at time t. A userspecified query is to ask the minimumtraveltime path, from a source node, vs, to a destination node, ve, over the timedependent graph, GT, with the best departure time to be selected from a time interval T. We denote this user query as LTT(vs, ve, T) over GT. The challenge of this problem is the added complexity due to the time dependency in the timedependent graph. That is, edge delays are not constants, and can vary from time to time. In this paper, we propose a novel algorithm to find the minimumtraveltime path with the best departure time for a LTT(vs, ve, T) query over a large graph GT. Our approach outperforms existing algorithms in terms of both time complexity in theory and efficiency in practice. We will discuss the design of our algorithm, together with its correctness and complexity. We conducted extensive experimental studies over large graphs and will report our findings. 1.