Lecture Notes in Computer Science 1097 Edited by G. Goos, J. Hartmanis and J. van Leeuwen Advisory Board: .W Brauer D. Gries J. Stoer RolfKarlsson Andrzej Lingas ).sdE( mhtiroglA yroehT TAWS '96 Workshop 5th Scandinavian Algorithm Theory on Reykjavik, Iceland, July 3-5, 6991 Proceedings regnirpS Series Editors Gerhard Goos, Karlsruhe University, Germany Juris Hartmanis, Cornell University, NY, USA Jan van Leeuwen, Utrecht University, The Netherlands Volume Editors Rolf Karlsson Andrzej Lingas Lund University, Department of Computer Science P.O. Box 118, S-22100 Lund, Sweden Cataloging-in-Publication data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme Algorithm theory : proceedings / SWAT '96, 5th Scandinavian Workshop on Algorithm Theory, Reykjavik, Iceland, July 3 - 5, 1996. Rolf Karlsson ; Andrzej Lingas (ed.). - Berlin ; Heidelberg ; New York ; Barcelona ; Budapest ; Hong Kong ; London ; Milan ; Paris ; Santa Clara ; Singapore ; Tokyo : Springer, 1996 (Lecture notes in computer science ; Vol. 1097) ISBN 3-540-61422-2 NE: Karlsson, Rolf Hrsg.; SWAT <5, 1996, Reykjavik>; GT CR Subject Classification (1991): F:l-2, E.1-2, G.2, G.3, 1.3.5 ISSN 0302-9743 ISBN 3-540-61422-2 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer -Verlag. Violations are liable for prosecution under the German Copyright Law. (cid:14)9 Springer-Verlag Berlin Heidelberg 1996 Printed in Germany Typesetting: Camera-ready by author SPIN 10513241 06/3142 - 5 4 3 2 1 0 Printed on acid-free paper Foreword The papers in this volume were presented at the Fifth Scandinavian Work- shop on Algorithm Theory. The workshop, which continues the tradi- tion of SWAT'88 to SWAT'94, and of the Workshops on Algorithms and Data Structures .(WADS'89 to WADS'95), is intended as a forum for re- searchers in the area of design and analysis of algorithms. The SWAT con- ferences are coordinated by the SWAT steering committee, which consists of B. Aspvall (Bergen), S. Carlsson (Lule£), H. Hafsteinsson (Reykjav~k), R. Karlsson (Lund), A. Lingas (Lund), E.M. Schmidt (/~rhus), and E. Ukkonen (Helsinki). The call for papers sought contributions on original research on algo- rithms and data structures, in all areas, including computational geometry, parallel and distributed computing, graph theory, and combinatorics. There were 95 papers submitted, of which about two thirds were very good or good. Because of the SWAT format the program committee could select only 35 papers for presentation. In addition, invited lectures were presented by Noga Alon (Tel-Aviv), Arne Andersson (Lund), and Mike Paterson (Warwick). SWAT'96 was held on July 3-5, 1996, in Reykjav~k, Iceland, and was or- ganized by Hj£1mt:~r Hafsteinsson and Magnds Hallddrsson (University of Iceland). We wish to thank all referees who helped to evaluate the papers. We are grateful to Nordic Research Courses (NorFA), the Ministry of Education of Iceland, the city of Reykjav[k, Lund University, and the Swedish Research Council for Engineering Sciences (TFR) for their support. Lund, April 1996 Rolf Karlsson Andrzej Lingas Table of Contents Derandomization Via Small Sample Spaces (Invited Lecture) N. Alon ............................................................. 1 The Randomized Complexity of Maintaining the Minimum G.S. Brodal, S. Chaudhuri, J. Radhakrishnan ....................... 4 Faster Algorithms for the Nonemptiness of Streett Automata and for Communication Protocol Pruning M. Rauch Henzinger, J.A. Telle ................................... 61 Service-Constrained Network Design Problems M.V. Marathe, R. Ravi, R. Sundaram ............................. 82 Approximate Hypergraph Coloring P. Kelsen, S. Mahajan, H. Ramesh ............................... 14 Facility Dispersion and Remote Subgraphs B. Chandra, M.M. Halld6rsson .................................... 35 The Constrained Minimum Spanning Tree Problem R. Ravi, M.X. Goemans .......................................... 66 Randomized Approximation of the Constraint Satisfaction Problem H.C. Lau, O. Watanabe ........................................... 67 On the Hardness of Global and Local Approximation H. Klauck ........................................................ 88 Approximation Algorithms for the Maximum Satisfiability Problem T. Asano, T. Ono, T. Hirata .................................... 001 On the Hardness of Approximating the Minimum Consistent OBDD Problem K. Hirata, S. Shimozono, A. Shinohara .......................... 211 Computing the Unrooted Maximum Agreement Subtree in Sub-quadratic Time T.W. Lam, W.K. Sung, H.F. Ting ............................... 421 iiiv Greedily Finding a Dense Subgraph Y. Asahiro, K. Iwama, H. Tamaki, T. Tokuyama ................. 631 Using Spaxsification for Parametric Minimum Spanning Tree Problems D. Ferndndez-Baca, G. Slutzki, D. Eppstein ...................... 941 Vertex Partitioning Problems On Partial k-Trees A. Gupta, D. Kaller, S. Mahajan, T. Shermer ................... 161 Making an Arbitrary Filled Graph Minimal by Removing Fill Edges J.R.S. Blair, P. Heggernes, J.A. Telle ............................ 371 Sorting and Searching Revisited (Invited Lecture) A. Andersson .................................................... 581 Lower Bounds for Dynamic Transitive Closure, Planar Point Location, and Parantheses Matching T. Husfeldt, T. Rauhe, S. Skyum ................................. 891 Optimal Pointer Algorithms for Finding Nearest Common Ancestors in Dynamic Trees S. Alstrup, M. Thorup ... ........................................ 212 Neighborhood Graphs and Distributed A + 1-Coloring P. Kelsen ........................................................ 322 Communication Complexity of Gossiping by Packets L. Gargano, A.A. Rescigno, U. Vaccaro .......................... 432 Optimal Cost-Sensitive Distributed Minimum Spanning Tree Algorithm T. Przytycka, L. Higham ......................................... 642 A Linear Time Algorithm rof the Feasibility of Pebble Motion on Trees V. Auletta, A. Monti, M. Parente, P. Persiano ................... 952 Linear-Time Heuristics rof Minimum Weight Rectangulation C. Levcopoulos, A. Ostlin ........................................ 172 Visibility with Multiple Reflections B. Aronov, A.R. Davis, T.K. Dey, S.P. Pal, D.C. Prasad ........ 482 XI A Fast Heuristic for Approximating the Minimum Weight Triangulation C. Levcopoulos, D. Krznaric ..................................... 296 Neighbours on a Grid A. Brodnik, J.L Munro .......................................... 309 On Two Dimensional Packing Y. Azar, L. Epstein .............................................. 321 Optimal Orthogonal Drawings of Triconnected Plane Graphs T.C. Biedl ....................................................... 333 Walking Streets Faster A. Ldpez-Ortiz, S. Schuierer ..................................... 345 Safe and Efficient Traffic Laws for Mobile Robots S. Preminger, E. Upfal ........................................... 357 Progress in Selection (Invited Lecture) M. Paterson ..................................................... 368 Probabilistic Ancestral Sequences and Multiple Alignments G.H. Gonnet, S.A. Benner ....................................... 380 Efficient Algorithms for Lempel-Ziv Encoding L. Ga~ieniec, M. Karpinski, W. Plandowski, W. Rytter .......... 392 The Deterministic Complexity of Parallel Multisearch A. Bdumker, W. Dittrich, A. Pietracaprina ...................... 404 Priority Queues on Parallell Machines G.S. Brodal ..................................................... 416 Binary Search Trees: How Low Can You Go? R. Fagerberg ..................................................... 428 Boolean Analysis of Incomplete Examples E. Bows, T. Ibaraki, K. Makino ................................. 440 Author Index ....................................................... 453 Derandomization Via Small Sample Spaces Noga Alon* School of Mathematical Sciences, Raymond and Beverly Sackler Faculty of Exact Sciences, Tel Aviv University, Tel Aviv 69978, Israel. E-m~l: nogahath.tau, ac. il. Abstract Many randomized algorithms run successfully even when the random choices they utilize are not fully independent. For the analysis some limited amount of independence, like k-wise independence for some fixed k, often suffices. In these cases, it is possible to replace the appropriate exponentially large sample spaces required to simulate all random choices of the algorithms by ones of polynomial size. This enables one to derandomize the algorithms, that is, convert them into deterministic ones, by searching the relatively small sample spaces deterministi- cally. If a random variable attains a certain value with positive probability, then we can actually search and find a point in which it attains such a value. The observation that n - 1 pairwise independent nontrivial random variables can be defined over a sample space of size n has been mentioned already long ago, see 11, 23. The pairwise independent case has been a crucial ingredient in the construction of efficient hashing schemes in 14, 17. A more general construc- tion, of small sample spaces supporting k-wise independent random variables, appeared in 19. For the case of binary, uniform random variables this is treated under the name orthogonal arrays in the Coding Theory literature, see, e.g., 27. Most constructions are based on some simple properties of polynomials over a finite field or on certain explicit error correcting codes. Several researchers realized that constructions of this type are useful for derandomizing parallel algorithms, since one may simply check all points of the sample space in parallel. Papers pursuing this idea include 1, 22, 24, and papers dealing with the properties of the constructions in which the sample spaces are not necessarily uniform include 20, 21. It can be shown that for fixed k, the minimum size of a sample space supporting n k-wise independent random variables is f2(n k/2j ). For the binary uniform case this is essentially the aao bound 30 (see also 12, 16), whereas for the general case it is shown in 1, where it is also observed this is tight for the binary uniform case. It follows that polynomial size sample spaces suffice only for handling k-wise independence for fixed k. There are, however, several ways to achieve a higher amount of independence. One method, developed in 9 and 26, (see also 25 for related ideas), starts with a construction of relatively small spaces which support k-wise * Research supported in part by a USA Israeli BSF grant. independent random variables for k = (log n) ~ and proceeds by searching in these spaces using the conditional expectations method of 32, 29. Another method, suggested in 31, is based on constructing spaces in which only certain prescribed sets of random choices are independent. The third method, initiated in 28 and improved in 3 (see also 2, 8, 13, 15) constructs sample spaces that support random variables any k of which are nearly independent. The above techniques have been applied in numerous papers dealing with derandomization, and we make no attempt to list all of them here. Examples include parallelization of derandomized geometric algorithms in 10, 18, and various parallel graph algorithms 1, 9, 22, 24, 28. It turned out that some variants of the techniques are also useful in derandomizing sequential algorithms 5, 7 and in designing space efficient on-line algorithms for estimating some statistical properties of a given input sequence 4. In the talk I will survey the basic ideas in the constructions of small sample spaces and discuss some of the applications, focusing on various recent results that illustrate the somewhat surprising relevance of the techniques to the solu- tions of several algorithmic problems. References .1 N. Alon, L. Babel and A. Itai. A fast and simple randomized parallel algorithm for the maximal independent set problem. J. Alg., 7:567-583, 1986. 2. N. Alon, J. Bruck, J. Naor, .M Naor and R. Roth. Construction of asymptotically good, low-rate error-correcting codes through pseudo-random graphs. IEEE Trans. Info. Theory, 38:509-516, 1992. .3 N. Alon, O. Goldreich, J. Hs and R. Peralta. Simple constructions of al- most k-wise independent random variables. Random Structures and Algorithms, 3(3):289-303, 1992. 4. N. Alon, Y. Matias and .M Szegedy. The space complexity of approximating the frequency moments. In Proc. of the 28th ACM Syrup. on Theory of Computing, 1996, in press. .5 N. Alon and M. Naoh Derandomization, witnesses for Boolean matrix multiplica- tion and construction of perfect hash functions. To appear in Algorithrnica. .6 N. Alon and J. H. Spencer. The Probabilistic Method. Wiley, 1992. .7 N. Alon, R. Yuster and U. Zwick. Color-coding. J. ACM42:844-856, 1995. .8 Y. Azar, R. Motwani and J. Naor. Approximating arbitrary probability distribu- tions using small sample spaces. Manuscript, 1990. .9 B. Berger and J. Rompel. Simulating (log c n)-wise independence in NC. Journal of the ACM, 38:1026-1046, 1991. .01 B. Berger, J. Rompel and P. W. Shot. Efficient NC algorithms for set cover with applications to learning and geometry. In Proc. 30th IEEE Symposium on Foun- dations of Computer Science, pages 54-59, 1989. .11 .S Bernstein. Theory of Probability (3rd Edition). GTTI, Moscow, 1945. .21 B. Chor, O. Goldreich, J. Hastad, J. Friedman, .S Rudich and R. Smolensky. The Bit Extraction Problem or t-Resilient Functions. In 62 th Annual Symposium on Foundations of Computer Science, Portland, Oregon, pages 396-407, 1985. 13. S. Chari, P. Rohatgi and A. Srinivasan. Improved algorithms via approximations of probability distributions. In Proc. 26th ACM Symposium on Theory o Com- puting, pages 584-592, 1994. 14. L. Carter and M. Wegman. Universal classes of Hash functions. J. Computer System Sciences, 18:143-154, 1979. 15. G. Even, O. Goldreich, M. Luby, N. Nisan and B. Velidkovi& Approximations of general independent distributions. In Proc. 24th ACM Symposium on Theory of Computing, pages 10-16, 1992. 16. J. Friedman. On the bit extraction problem. In Proc. 33rd IEEE Symposium on Foundations of Computer Science, pages 314-319, 1992. 17. M. Fredman, 3. Komlos and E. Szemer~di. Storing a sparse table with O(1) worst- case access time. In Proc. 23rd IEEE Symposium on Foundations of Computer Science, pages 165-169, 1982. 18. M. T. Goodrich. Geometric partitioning made easier, even in parallel. In Proc. 9th ACM Syrup. Comput. Geom., pages 73-82, 1993. 19. A. Joffe. On a set of almost deterministic k-independent random variables. Annals o Probability, 2:161-162, 1974. 20. D. Koller and N. Megiddo. Constructing small sample spaces satisfying given constraints. In Proc. of the 52 ht Annual A CM Symposium on Theory of Computing, pages 268-277, 1993. 21. H. Karloff and Y. Mansour. On construction of k-wise independent random vari- ables. In Proc. of the 26th Annual ACM Symposium on Theory of Computing, pages 564-573, 1994. 22. R. Karp and A. Wigderson. A fast parallel algorithm for the maximum independent set problem. J. ACM, 32: 762-773, 1985. 23. H. O. Lancaster. Pairwise statistical independence. Ann. Math. Star. 36: 1313- 1317, 1965. 24. M. Luby. A simple parallel algorithm for the maximal independent set problem. SIAM J. Comput., 15(4):1036-1053, 1986. 25. M. Luby. Removing randomness in parallel computation without a processor penalty. J. Comput. Syst. Sci., 47(2):250-286, 1993. 26. R. Motwani, J. Naor and M. Naor. The probabilistic method yields deterministic parallel algorithms. J. Comput. Syst. Sci., 49:478-516, 1994. 27. F. J. MacWilliams and N. J. A. Sloane. The Theory of Error-Correcting Codes. North Holland, Amsterdam, 1977. 28. J. Naor and M. Naor. Small-bias probability spaces: efficient constructions and applications. SIAM J. Comput., 22(4):838-856, 1993. 29. P. Raghavan. Probabilistic construction of deterministic algorithms: approximat- ing packing integer programs. J. Comput. Syst. Sci., 37:130 143, 1988. 30. C. R. Rao. Factorial experiments derivable from combinatorial arrangements of arrays. J. Royal Star. Soc. 9: 128-139, 1947. 31. L. J. Sehulman. Sample spaces uniform on neighborhoods. In Proceedings of the 24 th Annual ACM Symposium on Theory of Computing, pages 17-25, 1992. 32. J. Spencer. Ten Lectures on the Probabilistic Method. SIAM, 1987.
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