Transcript Chapter Title

Chapter 7:
The Mathematics
of Networks
7.1 Networks and Trees
Network
Our definition of a network is going to be really simple–
essentially, a network is a graph that is connected. In
this context the term is most commonly used when the
graph models a real-life “network.”
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7.1-2
Excursions in Modern Mathematics, 7e: 1.1 - 2
Network
Typically, the vertices of a network (sometimes called
nodes or terminals) are “objects” – transmitting
stations, computer servers, places, cell phones,
people, and so on. The edges of a network (which in
this context are often called links) indicate
connections among the objects – wires, cables,
roads, Internet connections, social connections, and
so on.
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7.1-3
Excursions in Modern Mathematics, 7e: 1.1 - 3
Network
The World Wide Web is a classic example of an
evolutionary network – it follows no predetermined
master plan and essentially evolves on its own without
structure or centralized direction (yes, there are some
rules of behavior but, as we all know, not that many).
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7.1-4
Excursions in Modern Mathematics, 7e: 1.1 - 4
Network
At the opposite end of the spectrum from
evolutionary networks are networks that are centrally
planned and carefully designed to meet certain
goals and objectives. Often these types of networks
are very expensive to build, and one of the primary
considerations when designing such networks is
minimizing their cost. This certainly applies to networks
of roads, fiber-optic cable lines, rail lines, power lines,
and so on.
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7.1-5
Excursions in Modern Mathematics, 7e: 1.1 - 5
Optimal Network
The general theme of this chapter is the problem of
finding optimal networks connecting a set of points.
Optimal means shortest, cheapest, or fastest,
depending on whether the cost variable is distance,
money, or time. Thus, the design of an optimal
network involves two basic goals: (1) to make sure
that all the vertices (stations, places, people, etc.)
end up connected to the network and (2) to minimize
the total cost of the network.
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7.1-6
Excursions in Modern Mathematics, 7e: 1.1 - 6
Minimum Network - Trees
For obvious reasons, problems of this type are known
as minimum network problems. The backbone of a
minimum network is a special type of graph called a
tree.
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7.1-7
Excursions in Modern Mathematics, 7e: 1.1 - 7
Trees
For obvious reasons, problems of this type are known
as minimum network problems. The backbone of a
minimum network is a special type of graph called a
tree.
This chapter starts with a discussion of the properties
of trees.
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7.1-8
Excursions in Modern Mathematics, 7e: 1.1 - 8
Example 7.1
The Amazonian
Cable Network
The Amazonia
Telephone
Company is
contracted to
provide
telephone,
cable, and
Internet service
to the seven
small mining
towns shown.
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7.1-9
Excursions in Modern Mathematics, 7e: 1.1 - 9
Example 7.1
The Amazonian
Cable Network
These towns are located deep in the heart of the
Amazon jungle, which makes the project particularly
difficult and expensive. In this environment the most
practical and environmentally friendly option is to
create a network of underground fiber-optic cable lines
connecting the towns. In addition, it makes sense to
bury the underground cable lines along the already
existing roads connecting the towns. (How would you
maintain and repair the lines otherwise?)
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7.1-10
Excursions in Modern Mathematics, 7e: 1.1 - 10
Example 7.1
The Amazonian
Cable Network
Here is a
weighted graph
graph model
describing the
situation. The
vertices of the
graph represent
the towns, the
edges of the
graph represent
the existing roads…
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7.1-11
Excursions in Modern Mathematics, 7e: 1.1 - 11
Example 7.1
The Amazonian
Cable Network
…and the weight of each edge represents the cost (in
millions of dollars) of creating a fiber-optic cable
connection along that particular road. The problem
facing the engineers and planners at the Amazonia
Telephone Company is to build a cable network that
(1) utilizes the existing network of roads, (2) connects all
the towns, and (3) has the least cost. The challenge, of
course, is in meeting the last requirement.
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7.1-12
Excursions in Modern Mathematics, 7e: 1.1 - 12
Language of Graphs
Reformulate the three requirements of Example 7.1 in
the language of graphs:
1. The network must be a subgraph of the original
graph (in other words, its edges must come from the
original graph).
2. The network must span the original graph (in other
words, it must include all the vertices of the original
graph).
3. The network must be minimal (in other words, the
total weight of the network should be as small as
possible).
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7.1-13
Excursions in Modern Mathematics, 7e: 1.1 - 13
Minimal Network - Not Have Circuits
The last requirement has an important corollary–a
minimal network cannot have any circuits. Why not?
Imagine that the solid edges
the figure represent
already existing links in a
minimal network.
Why would you then build
the link between X and Y
and close the circuit? The
edge XY would be a
redundant link of the
network.
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7.1-14
Excursions in Modern Mathematics, 7e: 1.1 - 14
A Few Formal Definitions
■ A network is just another name for a connected
graph. (This terminology is most commonly used
when the graph models a real-life situation.) When
the network has weights associated to the edges,
we call it a weighted network.
■ A network with no circuits is called a tree.
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7.1-15
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A Few Formal Definitions
■ A spanning tree of a network is a subgraph that
connects all the vertices of the network and has no
circuits.
■ Among all spanning trees of a weighted network,
one with least total weight is called a minimum
spanning tree (MST) of the network.
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7.1-16
Excursions in Modern Mathematics, 7e: 1.1 - 16
Example 7.2
Networks, Trees, and
Spanning Trees
The six graphs on the following slides all have the same
set of vertices (A through L). Let’s imagine, for the
purposes of illustration, that these vertices represent
computer labs at a university, and that the edges are
Ethernet connections between pairs of labs.
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7.1-17
Excursions in Modern Mathematics, 7e: 1.1 - 17
Example 7.2
Networks, Trees, and
Spanning Trees
In this figure, there is no
network–the graph is
disconnected.
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7.1-18
Excursions in Modern Mathematics, 7e: 1.1 - 18
Example 7.2
Networks, Trees, and
Spanning Trees
The graph is now
connected and we have
a network. However, in
this network there are
several circuits (for
example, K, H, I, J, K) that
create redun- dant
connections. In other
words, this network is not
a tree.
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7.1-19
Excursions in Modern Mathematics, 7e: 1.1 - 19
Example 7.2
Networks, Trees, and
Spanning Trees
In this figure, there is a
partial tree connecting
some of, but not all, the
labs. G and I are left out,
so once again, we have
no network.
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7.1-20
Excursions in Modern Mathematics, 7e: 1.1 - 20
Example 7.2
Networks, Trees, and
Spanning Trees
This figure shows a tree
that spans (i.e., reaches)
all the vertices. We now
have a network
connecting all the labs
and without any
redundant connections.
Here, the tree is the
network.
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7.1-21
Excursions in Modern Mathematics, 7e: 1.1 - 21
Example 7.2
Networks, Trees, and
Spanning Trees
This figure shows (in red)
the same tree as in the
previous slide but now
highlighted inside of a
larger network. In this
case we describe the
red tree as a spanning
tree of the larger
network, which shows a
different spanning tree
for the same network.
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7.1-22
Excursions in Modern Mathematics, 7e: 1.1 - 22
Example 7.2
Networks, Trees, and
Spanning Trees
This figure shows a
different spanning tree
for the same network as
in the previous slide.
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7.1-23
Excursions in Modern Mathematics, 7e: 1.1 - 23
Properties of Trees
As graphs go, trees occupy an important niche
between disconnected graphs and
“overconnected” graphs. A tree is special by virtue of
the fact that it is barely connected. This means
several things:
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7.1-24
Excursions in Modern Mathematics, 7e: 1.1 - 24
Properties of Trees
■ For any two vertices X and Y of a tree, there is one
and only one path joining X to Y. (If there were
two different paths joining X and Y, then these
two paths would form a circuit, as shown.)
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7.1-25
Excursions in Modern Mathematics, 7e: 1.1 - 25
Properties of Trees
■ Every edge of a tree is a bridge. (Suppose that
some edge AB is not a bridge. Then without AB the
graph is still connected, so there must be an
alternative path from A to B. This would imply that
the edge AB is part of a circuit as
illustrated.)
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7.1-26
Excursions in Modern Mathematics, 7e: 1.1 - 26
Properties of Trees
■ Among all networks with N vertices, a tree is the
one with the fewest number of edges.
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7.1-27
Excursions in Modern Mathematics, 7e: 1.1 - 27
Example 7.3
Connect the Dots
(and Then Stop)
Imagine the following “connect-the-dots” game: Start
with eight isolated vertices. The object of the game is
to create a network connecting the vertices by adding
edges, one at a time. You are free to create any
network you want. In this game, bridges are good and
circuits are bad. (Imagine, for example, that for each
bridge in your network you get a $10 reward, but for
each circuit in your network you pay a $10 penalty.)
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7.1-28
Excursions in Modern Mathematics, 7e: 1.1 - 28
Example 7.3
Connect the Dots
(and Then Stop)
We will let M denote the number of edges you have
added at any point in time. In the early stages of the
game the graph is disconnected.
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7.1-29
Excursions in Modern Mathematics, 7e: 1.1 - 29
Example 7.3
Connect the Dots
(and Then Stop)
For M = 7, the graph becomes connected. Each of
these networks is a tree, and thus each of the seven
edges is a bridge. Stop here and you will come out $70
richer.
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7.1-30
Excursions in Modern Mathematics, 7e: 1.1 - 30
Example 7.3
Connect the Dots
(and Then Stop)
Interestingly, this is as good as it will get. When M = 8,
the graph will have a circuit–it just can’t be avoided. In
addition, none of the edges in that circuit can be
bridges of the graph. As a consequence, the larger the
circuit that we create, the fewer the bridges left in the
graph. See the next slide for some examples.
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7.1-31
Excursions in Modern Mathematics, 7e: 1.1 - 31
Example 7.3
A circuit,
5 bridges
Connect the Dots
(and Then Stop)
A circuit,
2 bridges
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A circuit,
1 bridge
7.1-32
Excursions in Modern Mathematics, 7e: 1.1 - 32
Example 7.3
Connect the Dots
(and Then Stop)
As the value of M increases, the number of circuits
goes up (very quickly) and the number of bridges
goes down.
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7.1-33
Excursions in Modern Mathematics, 7e: 1.1 - 33
3 Key Properties of Trees
PROPERTY 1
■ In a tree, there is one and only one path
joining any two vertices.
■ If there is one and only one path joining any
two vertices of a graph, then the graph must
be a tree.
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7.1-34
Excursions in Modern Mathematics, 7e: 1.1 - 34
3 Key Properties of Trees
PROPERTY 2
■ In a tree, every edge is a bridge.
■ If every edge of a graph is a bridge, then the
graph must be a tree.
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7.1-35
Excursions in Modern Mathematics, 7e: 1.1 - 35
3 Key Properties of Trees
PROPERTY 3
■ A tree with N vertices has N – 1 edges.
■ If a network has N vertices and N – 1 edges,
then it must be a tree.
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7.1-36
Excursions in Modern Mathematics, 7e: 1.1 - 36
Disconnected Graph
Notice that a
disconnected
graph (i.e., not a
network) can
have N vertices
and N – 1 edges,
as shown.
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7.1-37
Excursions in Modern Mathematics, 7e: 1.1 - 37
Chapter 7:
The Mathematics
of Networks
7.2 Spanning Trees,
MST’s, and MaxST’s
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7.1-38
Excursions in Modern Mathematics, 7e: 1.1 - 38
Spanning Trees
In the case of a network with positive redundancy,
there are many trees within the network that connect
its vertices–these are the spanning trees of the
network.
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7.1-39
Excursions in Modern Mathematics, 7e: 1.1 - 39
Example 7.4
Counting Spanning
Trees
The network in the figure has N = 8 vertices and M = 8
edges. The redundancy of the
network is
R = M – (N – 1) = 1,
so to find a spanning tree
we will have to “discard”
one edge.
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7.1-40
Excursions in Modern Mathematics, 7e: 1.1 - 40
Example 7.4
Counting Spanning
Trees
Five of these edges are bridges of the network, and
they will have to be part of
any spanning tree. The other
three edges (BC, CG, and
GB) form a circuit of length
3, and if we exclude any
one of the three edges,
then we will have a
spanning tree.
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7.1-41
Excursions in Modern Mathematics, 7e: 1.1 - 41
Example 7.4
Counting Spanning
Trees
Thus, the network has three
different spanning trees.
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7.1-42
Excursions in Modern Mathematics, 7e: 1.1 - 42
Example 7.4
Counting Spanning
Trees
The network in the Figure has M = 9 edges and N = 8
vertices. The redundancy of the network is R = 2, so to
find a spanning tree we will
have to “discard” two edges.
Edges AB and AH are bridges
of the network, so they will
have to be part of any
spanning tree.
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7.1-43
Excursions in Modern Mathematics, 7e: 1.1 - 43
Example 7.4
Counting Spanning
Trees
The other seven edges are split into two separate
circuits (B, C, G, B of length 3 and C, D, E, F, C of length
4). A spanning tree can be
found by “busting” each of
the two circuits. This means
excluding any one of the
three edges of circuit B, C, G,
B and any one of the four
edges of circuit C, D, E, F, C.
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7.1-44
Excursions in Modern Mathematics, 7e: 1.1 - 44
Example 7.4
Counting Spanning
Trees
For example, if we exclude BC and CD, we get the
spanning tree shown.
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7.1-45
Excursions in Modern Mathematics, 7e: 1.1 - 45
Example 7.4
Counting Spanning
Trees
We could also exclude BC and DE and get the
spanning tree shown.
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7.1-46
Excursions in Modern Mathematics, 7e: 1.1 - 46
Example 7.4
Counting Spanning
Trees
Given that there are 3  4 =
12 different ways to choose
an edge from the circuit of
length 3 and an edge from
the circuit of length 4, there
are 12 spanning trees. We
have already shown two,
here’s one more.
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7.1-47
Excursions in Modern Mathematics, 7e: 1.1 - 47
Example 7.5
Counting Spanning
Trees
This network has M = 9
edges and N = 8 vertices.
Here the circuits B, C, G, B
and C, D, E, G, C share a
common edge CG.
Determining which pairs of
edges can be excluded in
this case is a bit more
complicated.
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7.1-48
Excursions in Modern Mathematics, 7e: 1.1 - 48
Example 7.6 Minimum Spanning
Trees
This example builds
on the ideas
introduced in
Example 7.2. The
network shown in is
the same network as
Example 7.2 now
with weights added
to the edges.
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7.1-49
Excursions in Modern Mathematics, 7e: 1.1 - 49
Example 7.6 Minimum Spanning
Trees
Vertices represent
computer labs, and
edges are potential
Ethernet connections.
The weights represent
the cost in K’s
(1K = $1000) of
installing the Ethernet
connections.
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7.1-50
Excursions in Modern Mathematics, 7e: 1.1 - 50
Example 7.6 Minimum Spanning
Trees
Using the
terminology we
introduced in this
section, the
weighted network
has a redundancy
of R = 3 (the network
has M = 14 vertices
and N = 12 edges).
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7.1-51
Excursions in Modern Mathematics, 7e: 1.1 - 51
Example 7.6 Minimum Spanning
Trees
The network has many possible spanning trees, and
our job is to find one with least weight, that is, a
minimum spanning tree (MST) for the network. We
know that we can find a spanning tree by excluding
certain edges of the network (those that close
circuits) from the spanning tree and that there are
many different ways in which this can be done.
Given that the edges now have weights, a
reasonable strategy for sorting through the options
would be to always try to exclude from the network
the most expensive edges.
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7.1-52
Excursions in Modern Mathematics, 7e: 1.1 - 52
Example 7.6 Minimum Spanning
Trees
To illustrate the
point, let’s look at
circuit B, C, D, E, B
on the left side of
the network.
It makes sense to
exclude CD (which
costs $95,000 to
build).
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7.1-53
Excursions in Modern Mathematics, 7e: 1.1 - 53
Example 7.6 Minimum Spanning
Trees
Likewise, on the right
side of the network
we have a
configuration of two
circuits K, H, I, K and
K, J, I, K that share
the common edge
KI.
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7.1-54
Excursions in Modern Mathematics, 7e: 1.1 - 54
Example 7.6 Minimum Spanning
Trees
We exclude the two
most expensive
edges from these
two circuits (KJ and
KI).
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7.1-55
Excursions in Modern Mathematics, 7e: 1.1 - 55
Example 7.6 Minimum Spanning
Trees
At this point, all the
circuits of the
original network are
“busted,” and we
end up with the red
spanning tree
shown.
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7.1-56
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Minimum Spanning Trees
Is the red spanning tree obtained in Example 7.6 the
MST of the original network? We would like to think it
is, but how can we be sure, especially after the
lessons learned in Chapter 6? And even if it is, what
assurances do we have that our simple strategy will
work in more complicated graphs? These are the
questions we will answer next.
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7.1-57
Excursions in Modern Mathematics, 7e: 1.1 - 57
Chapter 7:
The Mathematics
of Networks
7.3 Kruskal’s Algorithm
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7.1-58
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Kruskal’s Algorithm
Kruskal’s algorithm is almost identical to the cheapestlink algorithm: We build the minimum spanning tree
one edge at a time, choosing at each step the
cheapest available edge. The only restriction to our
choice of edges is that we should never choose an
edge that creates a circuit. (Having three or more
edges coming out of a vertex, however, is now OK.)
What is truly remarkable about Kruskal’s algorithm is
that–unlike the cheapest-link algorithm–it always gives
an optimal solution.
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7.1-59
Excursions in Modern Mathematics, 7e: 1.1 - 59
Example 7.7
The Amazonian Cable
Network: Part 2
What is the optimal fiber-optic cable network
connecting the seven towns shown?
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7.1-60
Excursions in Modern Mathematics, 7e: 1.1 - 60
Example 7.7
The Amazonian Cable
Network: Part 2
The weighted graph
shows the costs (in
millions of dollars) of
laying the cable
lines along each of
the potential links of
the network.
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7.1-61
Excursions in Modern Mathematics, 7e: 1.1 - 61
Example 7.7
The Amazonian Cable
Network: Part 2
The answer, as we
now know, is to find
the MST of the
graph. We will use
Kruskal’s algorithm
to do it. Here are
the details:
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Excursions in Modern Mathematics, 7e: 1.1 - 62
Example 7.7
The Amazonian Cable
Network: Part 2
Step 1. Among all the possible links, we choose the
cheapest one, in this particular
case GF (at a cost of $42
million). This link is going to
be part of the MST, and we
mark it in red (or any other
color) as shown
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7.1-63
Excursions in Modern Mathematics, 7e: 1.1 - 63
Example 7.7
The Amazonian Cable
Network: Part 2
Step 2. The next cheapest link available is BD at $45
million. We choose it for the MST and mark it in red.
Step 3. The next cheapest link available is AD at $49
million. Again, we choose it for the MST and mark it in
red.
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Excursions in Modern Mathematics, 7e: 1.1 - 64
Example 7.7
The Amazonian Cable
Network: Part 2
Step 4. For the next cheapest link there is a tie between
AB and DG, both at $51 million. But we can rule out AB–
it would create a
circuit in the MST, and we
can’t have that! The link DG,
on the other hand, is just fine,
so we mark it in red and
make it part of the MST.
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7.1-65
Excursions in Modern Mathematics, 7e: 1.1 - 65
Example 7.7
The Amazonian Cable
Network: Part 2
Step 5. The next cheapest link available is CD at $53
million. No problems here,so again, we mark it in red and
make it part of the MST.
Step 6. The next cheapest link available is BC at $55
million, but this link would create a circuit, so we cross it
out. The next possible choice is CF at $56 million, but
once again, this choice creates a circuit so we must
cross it out. The next possible choice is CE at $59 million,
and this is one we do choose. We mark it in red and
make it part of the MST.
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7.1-66
Excursions in Modern Mathematics, 7e: 1.1 - 66
Example 7.7
The Amazonian Cable
Network: Part 2
Step ... Wait a second–we are finished! Even without
looking at a picture, we can tell we are done–six links is
exactly what is needed for
an MST on seven vertices.
The figure shows the MST in
red. The total cost of the
network is $299 million.
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Excursions in Modern Mathematics, 7e: 1.1 - 67
KRUSKAL’S ALGORITHM
Step 1
Pick the cheapest link available. (In case of
a tie, pick one at random.) Mark it (say in
red).
Step 2.
Pick the next cheapest link available and
mark it.
Steps 3, 4, ..., N – 1. Continue picking and marking the
cheapest unmarked link available that does
not create a circuit.
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Excursions in Modern Mathematics, 7e: 1.1 - 68
Kruskal’s Algorithm
As algorithms go, Kruskal’s algorithm is as good as it
gets. First, it is easy to implement. Second, it is an
efficient algorithm. As we increase the number of
vertices and edges of the network, the amount of
work grows more or less proportionally (roughly
speaking, if finding the MST of a 30-city network takes
you, say, 30 minutes, finding the MST of a 60-city
network might take you 60 minutes).
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Excursions in Modern Mathematics, 7e: 1.1 - 69
Kruskal’s Algorithm
Last, but not least, Kruskal’s algorithm is an optimal
algorithm–it will always find a minimum spanning tree.
Thus, we have reached a surprisingly satisfying end to
the MST story: No matter how complicated the
network, we can find its minimum spanning tree by
means of an algorithm that is easy to understand and
implement, is efficient, and is also optimal.
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7.1-70
Excursions in Modern Mathematics, 7e: 1.1 - 70