Algorithms‎ > ‎Graphs‎ > ‎

Dijkstra's algorithm

Dijkstra's algorithm, conceived by Dutch computer scientist Edsger Dijkstra in 1959, is a graph search algorithm that solves the single-source shortest path problem for a graph with nonnegative edge path costs, producing a shortest path tree. This algorithm is often used in routing. An equivalent algorithm was developed by Edward F. Moore in 1957.

For a given source vertex(node) in the graph, the algorithm finds the path with lowest cost (i.e. the shortest path) between that vertex and every other vertex. It can also be used for finding costs of shortest paths from a single vertex to a single destination vertex by stopping the algorithm once the shortest path to the destination vertex has been determined. For example, if the vertices of the graph represent cities and edge path costs represent driving distances between pairs of cities connected by a direct road, Dijkstra's algorithm can be used to find the shortest route between one city and all other cities. As a result, the shortest path first is widely used in network routing protocols, most notably IS-IS and OSPF (Open Shortest Path First).

Algorithm

Let's call the node we are starting with an initial node. Let a distance of a node Y be the distance from the initial node to it. Dijkstra's algorithm will assign some initial distance values and will try to improve them step-by-step.

1. Assign to every node a distance value. Set it to zero for our initial node and to infinity for all other nodes.
2. Mark all nodes as unvisited. Set initial node as current.
3. For current node, consider all its unvisited neighbours and calculate their distance (from the initial node). For example, if current node (A) has distance of 6, and an edge connecting it with another node (B) is 2, the distance to B through A will be 6+2=8. If this distance is less than the previously recorded distance (infinity in the beginning, zero for the initial node), overwrite the distance.
4. When we are done considering all neighbours of the current node, mark it as visited. A visited node will not be checked ever again; its distance recorded now is final and minimal.
5. Set the unvisited node with the smallest distance (from the initial node) as the next "current node" and continue from step 3.

Dijkstra's algorithm

Running time

An upper bound of the running time of Dijkstra's algorithm on a graph with edges E and vertices V can be expressed as a function of |E| and |V| using the Big-O notation.

For any implementation of set Q the running time is O(|E|*decrease_key_in_Q + |V|*extract_minimum_in_Q), where decrease_key_in_Q and extract_minimum_in_Q are times needed to perform that operation in set Q.

The simplest implementation of the Dijkstra's algorithm stores vertices of set Q in an ordinary linked list or array, and operation Extract-Min(Q) is simply a linear search through all vertices in Q. In this case, the running time is O(|V|2+|E|)=O(|V|2).

For sparse graphs, that is, graphs with fewer than |V|2 edges, Dijkstra's algorithm can be implemented more efficiently by storing the graph in the form of adjacency lists and using a binary heap, pairing heap, or Fibonacci heap as a priority queue to implement the Extract-Min function efficiently. With a binary heap, the algorithm requires O((|E|+|V|) log |V|) time (which is dominated by O(|E| log |V|), assuming the graph is connected), and the Fibonacci heap improves this to O( | E | + | V | log | V | ).