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The problem of finding the shortest path in a graph G(V, E) has been widely studied. However, in many applications it is necessary to compute an arbitrary number of them, k. Even though the problem has raised a lot of interest from different research communities and many applications of it are known, it has not been addressed to the same extent as the single shortest path problem. The best algorithm known for efficiently solving this task has a time complexity of O (|E| + |V|log{|V|}+k|V|)$ when computing paths in explicit form, and is based on best-first search. This paper introduces a new search algorithm with the same time complexity, which results from a natural evolution of A* thus, it preserves all its interesting properties, making it widely applicable to many different domains. Experiments in various testbeds show a significant improvement in performance over the state of the art, often by one or two orders of magnitude., Comment: 249 plots in 48 figures, and 81 tables. This is an extended version of the paper Linares L\'opez, Carlos and Herman, Ian. 2024. Evolving A* to Efficiently Solve the k Shortest-Path Problem. Proceedings of the European Conference on Artificial Intelligence (ECAI). To appear

Effective causal discovery is essential for learning the causal graph from observational data. The linear non-Gaussian acyclic model (LiNGAM) operates under the assumption of a linear data generating process with non-Gaussian noise in determining the causal graph. Its assumption of unmeasured confounders being absent, however, poses practical limitations. In response, empirical research has shown that the reformulation of LiNGAM as a shortest path problem (LiNGAM-SPP) addresses this limitation. Within LiNGAM-SPP, mutual information is chosen to serve as the measure of independence. A challenge is introduced - parameter tuning is now needed due to its reliance on kNN mutual information estimators. The paper proposes a threefold enhancement to the LiNGAM-SPP framework. First, the need for parameter tuning is eliminated by using the pairwise likelihood ratio in lieu of kNN-based mutual information. This substitution is validated on a general data generating process and benchmark real-world data sets, outperforming existing methods especially when given a larger set of features. The incorporation of prior knowledge is then enabled by a node-skipping strategy implemented on the graph representation of all causal orderings to eliminate violations based on the provided input of relative orderings. Flexibility relative to existing approaches is achieved. Last among the three enhancements is the utilization of the distribution of paths in the graph representation of all causal orderings. From this, crucial properties of the true causal graph such as the presence of unmeasured confounders and sparsity may be inferred. To some extent, the expected performance of the causal discovery algorithm may be predicted. The refinements above advance the practicality and performance of LiNGAM-SPP, showcasing the potential of graph-search-based methodologies in advancing causal discovery.

In this paper the recoverable robust shortest path problem is investigated. Discrete budgeted interval uncertainty representation is used to model uncertain second-stage arc costs. The known complexity results for this problem are strengthened. It is shown that it is Sigma_3^p-hard for the arc exclusion and the arc symmetric difference neighborhoods. Furthermore, it is also proven that the inner adversarial problem for these neighborhoods is Pi_2^p-hard.

In this paper, the recoverable robust shortest path problem under interval uncertainty representations is discussed. This problem is known to be strongly NP-hard and also hard to approximate in general digraphs. In this paper, the class of acyclic digraphs is considered. It is shown that for the traditional interval uncertainty, the problem can be solved in polynomial time for all natural, known from the literature, neighborhoods. Efficient algorithms for various classes of acyclic digraphs are constructed. Some negative results for general digraphs are strengthened. Finally, some exact and approximate methods of solving the problem under budgeted interval uncertainty are proposed.

This paper deals with the recoverable robust shortest path problem under the interval uncertainty representation. The problem is known to be strongly NP-hard and not approximable in general digraphs. Polynomial time algorithms for the problem under consideration in DAGs are proposed.

The shortest path problem is a typical problem in graph theory with wide potential applications. The state-of-the-art single-source shortest paths algorithm on the weight graph is the $\Delta$-stepping algorithm, which can efficiently process weighted graphs in parallel. DAWN is an algorithm that addresses the shortest path problem on unweighted graphs, and we propose a weighted version that can handle graphs with weights edges, while maintaining the high scalability and parallelism features as DAWN. The novel version requires $O(\mu m)$ and $O(\mu \cdot E_{wcc})$ times on the connected and unconnected graphs for SSSP problems, respectively. $E_{wcc}$ denote the number of edges included in the largest weakly connected component, and $\mu$ is a constant denoting the average number of path transformations in the tasks. We tested the weighted version on the real graphs from Stanford Network Analysis Platform and SuiteSparse Matrix Collection, which outperformed the solution of $\Delta$-stepping algorithm from Gunrock, achieving a speedup of 43.163$\times$., Comment: arXiv admin note: text overlap with arXiv:2208.04514

This paper introduces a novel algorithm for solving the point-to-point shortest path problem in a static regular 8-neighbor connectivity (G8) grid. This algorithm can be seen as a generalization of Hadlock algorithm to G8 grids, and is shown to be theoretically equivalent to the relaxed $A^*$ ($RA^*$) algorithm in terms of the provided solution's path length, but with substantial time and memory savings, due to a completely different computation strategy, based on defining a set of lookup matrices. Through an experimental study on grid maps of various types and sizes (1290 runs on 43 maps), it is proven to be 2.25 times faster than $RA^*$ and 17 times faster than the original $A^*$, in average. Moreover, it is more memory-efficient, since it does not need to store a G score matrix.

We study the reverse shortest path problem on disk graphs in the plane. In this problem we consider the proximity graph of a set of $n$ disks in the plane of arbitrary radii: In this graph two disks are connected if the distance between them is at most some threshold parameter $r$. The case of intersection graphs is a special case with $r=0$. We give an algorithm that, given a target length $k$, computes the smallest value of $r$ for which there is a path of length at most $k$ between some given pair of disks in the proximity graph. Our algorithm runs in $O^*(n^{5/4})$ randomized expected time, which improves to $O^*(n^{6/5})$ for unit disk graphs, where all the disks have the same radius. Our technique is robust and can be applied to many variants of the problem. One significant variant is the case of weighted proximity graphs, where edges are assigned real weights equal to the distance between the disks or between their centers, and $k$ is replaced by a target weight $w$; that is, we seek a path whose length is at most $w$. In other variants, we want to optimize a parameter different from $r$, such as a scale factor of the radii of the disks. The main technique for the decision version of the problem (determining whether the graph with a given $r$ has the desired property) is based on efficient implementations of BFS (for the unweighted case) and of Dijkstra's algorithm (for the weighted case), using efficient data structures for maintaining the bichromatic closest pair for certain bicliques and several distance functions. The optimization problem is then solved by combining the resulting decision procedure with enhanced variants of the interval shrinking and bifurcation technique of [4]., Comment: A preliminary version of this paper appears in Proc. European Sympos. Algorithms (ESA), 2023

We study EVs traveling from origin to destination in the shortest time, focusing on long-distance settings with energy requirements exceeding EV autonomy. The EV may charge its battery at public Charging Stations (CSs), which are subject to uncertain waiting times. We model CSs using appropriately defined queues, whose status is revealed upon the EV arrival. However, we consider the availability of real-time binary Occupancy Indicator (OI) information, signaling if a CS is busy or not. At each OI update, we determine the sequence of CSs to visit along with associated charging quantities. We name the resulting problem the Electric Vehicle Shortest Path Problem with charging station Occupancy Indicator information (EVSPP-OI). In this problem, we consider that the EV is allowed to partially charge its battery, and we model charging times via piecewise linear charging functions that depend on the CS technology. We propose an MDP formulation for the EVSPP-OI and develop a reoptimization algorithm that establishes the sequence of CS visits and charging amounts based on system updates. Specifically, we propose a simulation-based approach to estimate the waiting time of the EV at a CS as a function of its arrival time. As the path to a CS may consist of multiple intermediate CS stops, estimating the arrival times at each CS is fairly intricate. To this end, we propose an efficient heuristic that yields approximate lower bounds on the arrival time of the EV at each CS. We use these estimations to define a deterministic EVSPP, which we solve with an existing algorithm. We conduct a comprehensive computational study and compare the performance of our methodology with a benchmark that observes the status of CSs only upon arrival. Results show that our method reduces waiting times and total trip duration by an average of 23.7%-95.4% and 1.4%-18.5%, respectively.

Given an undirected graph $G=(V,E)$ and an integer $\ell$, the Eccentricity Shortest Path (ESP) asks to find a shortest path $P$ such that for every vertex $v\in V(G)$, there is a vertex $w\in P$ such that $d_G(v,w)\leq \ell$, where $d_G(v,w)$ represents the distance between $v$ and $w$ in $G$. Dragan and Leitert [Theor. Comput. Sci. 2017] showed that the optimization version of this problem, which asks to find the minimum $\ell$ for the ESP problem, is NP-hard even on planar bipartite graphs with maximum degree 3. They also showed that ESP is W[2]-hard when parameterized by $\ell$. On the positive side, Ku\v cera and Such\'y [IWOCA 2021] showed that the problem exhibits fixed parameter tractable (FPT) behavior when parameterized by modular width, cluster vertex deletion set, maximum leaf number, or the combined parameters disjoint paths deletion set and $\ell$. It was asked as an open question in the above paper, if ESP is FPT parameterized by disjoint paths deletion set or feedback vertex set. We answer these questions partially and obtain the following results: - ESP is FPT when parameterized by disjoint paths deletion set, split vertex deletion set or the combined parameters feedback vertex set and eccentricity of the graph. - We design a $(1+\epsilon)$-factor FPT approximation algorithm when parameterized by the feedback vertex set number. - ESP is W[2]-hard when parameterized by the chordal vertex deletion set., Comment: A preliminary version of this paper was accepted in IWOCA 2023

The shortest path problem in graphs is a cornerstone of AI theory and applications. Existing algorithms generally ignore edge weight computation time. We present a generalized framework for weighted directed graphs, where edge weight can be computed (estimated) multiple times, at increasing accuracy and run-time expense. This raises several generalized variants of the shortest path problem. We introduce the problem of finding a path with the tightest lower-bound on the optimal cost. We then present two complete algorithms for the generalized problem, and empirically demonstrate their efficacy.

The classic problem of constrained pathfinding is a well-studied, yet challenging, topic in AI with a broad range of applications in various areas such as communication and transportation. The Weight Constrained Shortest Path Problem (WCSPP), the base form of constrained pathfinding with only one side constraint, aims to plan a cost-optimum path with limited weight/resource usage. Given the bi-criteria nature of the problem (i.e., dealing with the cost and weight of paths), methods addressing the WCSPP have some common properties with bi-objective search. This paper leverages the recent state-of-the-art techniques in both constrained pathfinding and bi-objective search and presents two new solution approaches to the WCSPP on the basis of A* search, both capable of solving hard WCSPP instances on very large graphs. We empirically evaluate the performance of our algorithms on a set of large and realistic problem instances and show their advantages over the state-of-the-art algorithms in both time and space metrics. This paper also investigates the importance of priority queues in constrained search with A*. We show with extensive experiments on both realistic and randomised graphs how bucket-based queues without tie-breaking can effectively improve the algorithmic performance of exhaustive A*-based bi-criteria searches., Comment: 62 pages, 16 figures, 7 tables

In this paper we consider an ambiguity-averse multi-stage network game between a user and an attacker. The arc costs are assumed to be random variables that satisfy prescribed first-order moment constraints for some subsets of arcs and individual probability constraints for some particular arcs. The user aims at minimizing its cumulative expected loss by traversing between two fixed nodes in the network, while the attacker's objective is to maximize the user's expected loss by selecting a distribution of arc costs from the family of admissible distributions. In contrast to most of the related studies, both the user and the attacker can dynamically adjust their decisions at particular nodes of the user's path. By observing the user's decisions, the attacker may reveal some additional distributional information associated with the arcs emanated from the current user's position. It is shown that the resulting multi-stage distributionally robust shortest path problem (DRSPP) admits a linear mixed-integer programming reformulation (MIP). In particular, we distinguish between acyclic and general graphs by introducing different forms of non-anticipativity constraints. Finally, we perform a numerical study, where the quality of adaptive decisions and computational tractability of the proposed MIP reformulation are explored with respect to several classes of synthetic network~instances.

The stochastic shortest path problem (SSPP) asks to resolve the non-deterministic choices in a Markov decision process (MDP) such that the expected accumulated weight before reaching a target state is maximized. This paper addresses the optimization of the variance-penalized expectation (VPE) of the accumulated weight, which is a variant of the SSPP in which a multiple of the variance of accumulated weights is incurred as a penalty. It is shown that the optimal VPE in MDPs with non-negative weights as well as an optimal deterministic finite-memory scheduler can be computed in exponential space. The threshold problem whether the maximal VPE exceeds a given rational is shown to be EXPTIME-hard and to lie in NEXPTIME. Furthermore, a result of interest in its own right obtained on the way is that a variance-minimal scheduler among all expectation-optimal schedulers can be computed in polynomial time., Comment: This is the extended version of the conference version accepted for publication at ICALP 2022

We study the use of machine learning techniques to solve a fundamental shortest path problem, known as the single-source many-targets shortest path problem (SSMTSP). Given a directed graph with non-negative edge weights, our goal is to compute a shortest path from a given source node to any of several target nodes. Basically, our idea is to equip an adapted version of Dijkstras algorithm with machine learning predictions to solve this problem: Based on the trace of the algorithm, we design a neural network that predicts the shortest path distance after a few iterations. The prediction is then used to prune the search space explored by Dijkstras algorithm, which may significantly reduce the number of operations on the underlying priority queue. We note that our algorithm works independently of the specific method that is used to arrive at such predictions. Crucially, we require that our algorithm always computes an optimal solution (independently of the accuracy of the prediction) and provides a certificate of optimality. As we show, in the worst-case this might force our algorithm to use the same number of queue operations as Dijkstras algorithm, even if the prediction is correct. In general, however, our algorithm may save a significant fraction of the priority queue operations. We derive structural insights that allow us to lower bound these savings on partial random instances. In these instances, an adversary can fix the instance arbitrarily except for the weights of a subset of relevant edges, which are chosen randomly. Our bound shows that the number of relevant edges which are pruned increases as the prediction error decreases. We then use these insights to derive closed-form expressions of the expected number of saved queue operations on random instances.

This work addresses the Robust counterpart of the Shortest Path Problem (RSPP) with a correlated uncertainty set. Since this problem is hard, a heuristic approach, based on Frank-Wolfe's algorithm named Discrete Frank-Wolf (DFW), has recently been proposed. The aim of this paper is to propose a semi-definite programming relaxation for the RSPP that provides a lower bound to validate approaches such as DFW Algorithm. The relaxed problem results from a bidualization that is done {through} a reformulation of the RSPP into a quadratic problem. Then the relaxed problem is solved using a sparse version of Pierra's decomposition in a product space method. This validation method is suitable for large size problems. The numerical experiments show that the gap between the solutions obtained with the relaxed and the heuristic approaches is relatively small.

Given a set P of n points in the plane, the unit-disk graph G_{r}(P) with respect to a parameter r is an undirected graph whose vertex set is P such that an edge connects two points p, q \in P if the Euclidean distance between p and q is at most r (the weight of the edge is 1 in the unweighted case and is the distance between p and q in the weighted case). Given a value \lambda>0 and two points s and t of P, we consider the following reverse shortest path problem: computing the smallest r such that the shortest path length between s and t in G_r(P) is at most \lambda. In this paper, we present an algorithm of O(\lfloor \lambda \rfloor \cdot n \log n) time and another algorithm of O(n^{5/4} \log^{7/4} n) time for the unweighted case, as well as an O(n^{5/4} \log^{5/2} n) time algorithm for the weighted case. We also consider the L_1 version of the problem where the distance of two points is measured by the L_1 metric; we solve the problem in O(n \log^3 n) time for both the unweighted and weighted cases., Comment: This version added new results on the weighted case and the L1 case. These new results have been accepted in WALCOM 2022 and have also been presented at FWCG 2021

Colonies of the arboreal turtle ant create networks of trails that link nests and food sources on the graph formed by branches and vines in the canopy of the tropical forest. Ants put down a volatile pheromone on edges as they traverse them. At each vertex, the next edge to traverse is chosen using a decision rule based on the current pheromone level. There is a bidirectional flow of ants around the network. In a field study, Chandrasekhar et al. (2021) observed that the trail networks approximately minimize the number of vertices, thus solving a variant of the popular shortest path problem without any central control and with minimal computational resources. We propose a biologically plausible model, based on a variant of the reinforced random walk on a graph, which explains this observation and suggests surprising algorithms for the shortest path problem and its variants. Through simulations and analysis, we show that when the rate of flow of ants does not change, the dynamics converges to the path with the minimum number of vertices, as observed in the field. The dynamics converges to the shortest path when the rate of flow increases with time, so the colony can solve the shortest path problem merely by increasing the flow rate. We also show that to guarantee convergence to the shortest path, bidirectional flow and a decision rule dividing the flow in proportion to the pheromone level are necessary, but convergence to approximately short paths is possible with other decision rules., Comment: Changes in presentation. Published in PNAS 2023

The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: the nodes represent positions of a mobile vehicle and the arcs are associated to pre-assigned geometric paths that connect these positions. BASP consists in finding the minimum-time path between two nodes. Differently from SP, we require that the vehicle satisfy bounds on maximum and minimum acceleration and speed, that depend on the vehicle position on the currently traveled arc. We prove that BASP is NP-hard and define solution algorithm that achieves polynomial time-complexity under some additional hypotheses on problem data., Comment: 39 pages

Magnetic skyrmions are emerging as key elements of unconventional operations having unique properties such as small size and low current manipulation. In particular, it is possible to design skyrmion-based neurons and synapses for neuromorphic computing in devices where skyrmions move along the current direction (zero skyrmion Hall angle). Here, we show that, for a given graph, skyrmions can be used in optimization problems facing the calculation of the shortest path. Our tests show a solution with the same path length as computed with Algorithm. In addition, we also discuss how skyrmions act as positive feedback on this type of problem giving rise to a self-reinforcement of the path which is a possible solution.

In this study we consider the shortest path problem, where the arc costs are subject to distributional uncertainty. Basically, the decision-maker attempts to minimize her worst-case expected loss over an ambiguity set (or a family) of candidate distributions that are consistent with the decision-maker's initial information. The ambiguity set is formed by all distributions that satisfy prescribed linear first-order moment constraints with respect to subsets of arcs and individual probability constraints with respect to particular arcs. Under some additional assumptions the resulting distributionally robust shortest path problem (DRSPP) admits equivalent robust and mixed-integer programming (MIP) reformulations. The robust reformulation is shown to be $NP$-hard, whereas the problem without the first-order moment constraints is proved to be polynomially solvable. We perform numerical experiments to illustrate the advantages of the considered approach; we also demonstrate that the MIP reformulation of DRSPP can be solved effectively using off-the-shelf solvers., Comment: 37 pages

The Minimum Eccentricity Shortest Path Problem consists in finding a shortest path with minimum eccentricity in a given undirected graph. The problem is known to be NP-complete and W[2]-hard with respect to the desired eccentricity. We present fpt-algorithms for the problem parameterized by the modular width, distance to cluster graph, the combination of treewidth with the desired eccentricity, and maximum leaf number.

The shortest path problem is formulated as an $l_1$-regularized regression problem, known as lasso. Based on this formulation, a connection is established between Dijkstra's shortest path algorithm and the least angle regression (LARS) for the lasso problem. Specifically, the solution path of the lasso problem, obtained by varying the regularization parameter from infinity to zero (the regularization path), corresponds to shortest path trees that appear in the bi-directional Dijkstra algorithm. Although Dijkstra's algorithm and the LARS formulation provide exact solutions, they become impractical when the size of the graph is exceedingly large. To overcome this issue, the alternating direction method of multipliers (ADMM) is proposed to solve the lasso formulation. The resulting algorithm produces good and fast approximations of the shortest path by sacrificing exactness that may not be absolutely essential in many applications. Numerical experiments are provided to illustrate the performance of the proposed approach., Comment: 17 pages

Let $G=(V,E)$ be a simple, connected graph. One is often interested in a short path between two vertices $u,v$. We propose a spectral algorithm: construct the function $\phi:V \rightarrow \mathbb{R}_{\geq 0}$ $$ \phi = \arg\min_{f:V \rightarrow \mathbb{R} \atop f(u) = 0, f \not\equiv 0} \frac{\sum_{(w_1, w_2) \in E}{(f(w_1)-f(w_2))^2}}{\sum_{w \in V}{f(w)^2}}.$$ $\phi$ can also be understood as the smallest eigenvector of the Laplacian Matrix $L=D-A$ after the $u-$th row and column have been removed. We start in the point $v$ and construct a path from $v$ to $u$: at each step, we move to the neighbor for which $\phi$ is the smallest. This algorithm provably terminates and results in a short path from $v$ to $u$, often the shortest. The efficiency of this method is due to a discrete analogue of a phenomenon in Partial Differential Equations that is not well understood. We prove optimality for trees and discuss a number of open questions.