the International Journal Volume 8

on Marine Navigation Number 4

http://www.transnav.eu and Safety of Sea Transportation December 2014

DOI:10.12716/1001.08.04.12

Graph Theory Approach to Transportation Systems

Design and Optimization
S.Guze
GdyniaMaritimeUniversity,Gdynia,Poland

ABSTRACT:Themainaimofthepaperistopresentgraphtheoryparametersandalgorithmsastooltoanalyze
and to optimise transportation systems. To realize these goals the 01 knapsack problem solution by SPEA
algorithm,methodsandproceduresforfindingtheminimalspanningtreeingraphsanddigraphs,domination
parametersproblemsaccuratetoanalysethetransportationsystemsareintroducedanddescribed.Possibility
of application of graph theory algorithms and parameters to analyze exemplary transportation system are
shown.

1 INTRODUCTION
Nowadays,researchers have two main problems. On
theonehandpeoplearedependentoncriticalsystems
such as transportation, electricity, water supply,
sewage, ICT. According to the official definition, the
criticalinfrastructureisatermusedtodescribeassets
that are essential for the functioning of a society and
economy. The following facilities are related to this
subject[1]:
electricity and heating generation, transmission
anddistribution;
gasandoilproduction,transportanddistribution;
telecommunication;
watersupply;
agriculture,foodproductionanddistribution;
publichealth(hospitals,ambulances);
transportation systems (fuel supply, railway
network,airports,harbours,inlandshipping);
financialservices(banking);
securityservices(police,military).
There are several regional criticalinfrastructure
protectionprogrammes,whichmainaimsare:
toindentifyimportantassets,
to analyze a risk based on major threat scenarios
andthevulnerabilityofeachasset,
to indentify, select and make prioritisation of
countermeasuresandprocedures.
Thesegoalsarecommonforallfacilitiespresented
above. It is very important to keep these systems in
goodconditions[8],[9].Thus,the risk and reliability
analyses is needed to understand the impact of
threats and hazards [4], [5], [8]. Unfortunately, these
problems are more and more complex, because of
existing strong interdependencies both within and
betweeninfrastructuresystems.
Thesecondproblemisfindingoptimalsolutions.It
is met in many areas of modern science, technology
and economics. For example, the navigators main
aimisoptimizingtherouteoftheshipduetosafety,
timeofpassage,fuelandcosts[16],[21].Thesolving
of these reallife problems is looking for a
mathematical model or function that best
approximates or fit to the data collected during the
operation process or experiment [11]. If we can
specifythreeelements:amodelofthephenomenonof

571
distinguished decision variables, objective function
also known as a quality criterion and limitations,
eachofthesecanbe(generally)formulatedstrictlyas
an optimization problem [3]. This approach can be
apply to reliability, safety and risk analysis [3], [4].
But,becauseofthecurrentcomplexityofthetechnical
systems [9] the criteria for their safe and reliable
operations are made important more and more [11],
[12]. This implies that more than one object is taken
into account for solving the optimization problems
([3], [5], [10], [12], [14], [16], [20], [22] [23]). Some
tools for solving the problems of complex technical
systems operation, reliability, availability, safety and
cost optimization are presented in [10] [12]. The
methodsofthereliabilitypredictionandoptimization
of complex technical systems related to their
operationprocessesareintroducedin[10].
The methods of operational research can be
classified as deterministic or nondeterministic [15],
[18],[20], [22]. There are many publications concerns
into deterministic or nondeterministic optimization
methodsforengineeringandmanagement[20][23].
The methods for solving the maritime transportation
optimization problems, i.e. weather routing or
minimizing fuel consumption are introduced in [14],
[21],respectively.
In this paper the review of known graph theory
algorithms and parameters [2] [7], [13], [15], [17]
[19],[23]whichcanbeappliedtodesign,analyzeand
optimizeoftransportationsystemsisdone.
Whereas, the presented approach can be used to
anyoflistedabovefacilities.
2 MULTICRITERIAOPTIMIZATIONMETHODS
REVIEW
X parameter(variable)space,
y objectivevector,
Y objectivespace.
The set of multiobjective optimization problem
solutionsconsistsofalldecisionvectorsforwhichthe
corresponding objective vectors cannot be improved
in any dimension without degradation in another.
These vectors are known as Pareto optimal, what is
relatedtotheconceptofdominationvectorbyvector.
It is simple to explain after introduce following
definitions.
Definition1
Let us take into account a maximization problem
andconsider two decision vectors a, b X , then a
issaidtodominate b ifandonlyif
i {1, 2,..., n} : fi (a ) fi ( b)
(3)
j {1, 2,..., n} : fj (a ) fj ( b).
Definition2
All decision vectors which are not dominated by
anotherdecisionvectorarecallednondominated.
When the decision vectors are nondominated
within the entire search space, they are denoted as
Paretooptimal(Paretooptimalfront).
These general formulations for single and multi
objective optimization problem are common for
differenttypesofengineeringproblems,whichcanbe
related to different optimization problems presented
onFigure1.

Inthegeneralwords,thesingleobjectedoptimization
problem is defined as following mathematical model
(minimizingormaximizingproblem):

F(x i ) min or F(x i ) max,

(1)
l j (x i ) 0, l j (x i ) 0, x i 0, i, j 1, 2,..., n

where
x i decisionvariables, i 1,2,..., n ;
F ( x i ) goalfunction;
l j ( xi ) limits function (low or high) for decision Figure1.Differenttypesofproblemrelatedtooptimization
problems[3],[15].
variables, i, j 1,2,..., n .
Whereas, the multiobjective (multicriteria) The basic classification of the optimization
optimization model can be described as a vector methodsconsistsintheirdivisionduetothenumber
function f that maps a tuple of m decision of criteria (one or multicriteria). As it is shown on
variables to a tuple of n objectives. The formal Figure2,thereispossibilitytodistinguishsevenmost
notationisasfollows[12]: frequently used methods of multicriteria
optimizationandthreeforonecriterion[3].
y f(x) f1 (x), f2 (x), , fn (x) min/ max
subjectto
(2)
x x1 , x 2 , , x m X,
y y 1 , y 2 , , y n Y,

where
x decisionvariable,

572
 N populationsize,
N maximumsizeofexternalset,
T maximumnumberofgenerations,
pc crossingprobability,
pm mutationprobability,
Asetofnondominatedsolutions.
The Strength Pareto Evolutionary Algorithm is as
follows[3],[23]:

Figure2.Chosenoptimizationmethods[3].
Thesemethodsrepresentsomegeneralapproaches
foroptimization,i.e.:
deterministic,
nondeterministic,
heuristic,
evolutionary/genetic.
The above approaches can provide general tools
for solving optimization problems to obtain a global
optimum. In second case the best way is using the
evolutionary or genetic algorithms. The schema of
basicgeneticalgorithmispresentedonFigure3.
General operation of genetic or evolutionary
algorithms is based on the following steps (see
Figure3)[3]:
1 Initialization.
2 Calculatefitness.
3 Selection/Recombination/Mutations (parents and
children).
4 Finished.
Step1.Initialization:
The initial population P0 is generated according
toprocedure:
1 Togetitemi.
2 Toadditemitoset P0 .
Next, the empty external set P0 is generated,
wheret=0.
Step2.Thecomplementoftheexternalsetisdone.
Let P = Pt
1 To copy nondominated items from population
Pt topopulation P .
2 Toremovedominateditemsfromset P .
3 To reduce the cardinality of the set P to value
N , using clustering and the solution give into
Pt 1 .
Step3.Determinationfitfunction.
The value of the fit function F for items from sets
Pt i Pt can be found according to following
procedure:
Therealvalue S [0,1) isassignedforeveryitem
i Pt (called power). This value is proportional to
number of items j Pt , which represents the
solutionsdominatedbyitemi.
Theadaptationofitem jiscalculatedassumofall
items from external set, represents solution
dominatedbyitemj,increasedby1.
Theaimofaddition1istoensurethatitems i Pt
willhavebettervalueoffitfunctionthanitemsfrom
set Pt ,i.e.

n
S(i) , (4)
N1
Figure3.Basicgeneticalgorithm[3],[22].
where:
The each chromosome of the genetic or
evolutionary algorithm is represented as a string of
S (i ) powerofitemi,
n number of items in population dominated by
bits.
itemi.
In the paper the Strength Pareto Evolutionary
Itisassumedthatvalueoffitfunctionforitemiis
Algorithm(SPEA)isconsidered[3],[23].
equaltohispower,i.e.
The basic notations for above algorithm are as
follows: F (i ) S (i ) . (5)
tnumberofgeneration,
Pt populationingenerationt,
Pt externalsetingenerationt,
P temporaryexternalset, Step4.Selection
P temporarypopulation.
Let P =.
Additionally, it is necessary to give following
Fori=1,2,kdo
inputparameters:
1 Tochooserandomlytwoitems i, j Pt Pt .

573
2 If F (i ) F ( j ) then P P {i} Definition3
else P P { j} ,underassumptionthatvalueof
fitisminimizing. A set DI V (G ) is an independent dominating
set of G if no two vertices of DI are connected by
any edge of G . The minimum cardinality of an
Step4.Recombination. independent dominating set of G is the
independentdominationnumber I (G ).
Let P =.
Fori=1,2,N/2do:
1 To choose two items i, j P and to remove it
from P .
2 Tocreateitems: k, l bycrossingtheitems i , j .
3 Toadditems k, l toset P withprobability pc ,
elseadditems i , j toset P .

Step5.Mutation
Let P =.
Foreveryitem i P do:
1 To create item j by mutation the item i with
probability pm .
2 Toadditemjtoset P .
Figure3.Theexemplaryundirectedgraph G .

Step6.Finished Fortheexemplarygraph G presentedinFigure3

Let Pt 1 P and t t 1 .
If t T then return A nondominated solution
frompopulation Pt andfinishelsebacktoStep2.
3 REVIEWOFGRAPHTHEORYTOPICS
Bellow chapter is showing general definitions,
parameters and algorithms of the domination in
graph theory and other related topics. Let
G (V , E ) be a connected simple graph (Figure 1)
where V setofnvertices, E setofmedges. The
set of neighbors of vertex v in G is denoted
by N G (v ).
3.1 Basicsondominationinundirectedgraphs
Inthefollowing,thedifferenttypeofdominationsets
and numbers definitions will be introduced, i.e.
general, connected and independent for undirected
graphs[4],[6],[7].
Definition1
A set D V (G) is the dominating set of G if
for any v V either v D or N G (v ) D .
Thedominationnumber (G ) ofagraph G isthe
minimumcardinalityofadominatingsetof G .
Definition2
A set DC V (G) is a connected dominating set
the particular domination sets and numbers
(Definitions13)areasfollows:
D {5, 6}, (G) 2;
D {1, 2, 5}, c (G) 2;
D {2, 3}, I (G) 2.
The above definitions refer to the general concept
of undirected graphs. There are topics related to
weight functions, what allows defined the vertex
weightedgraph([4],[6],[7]).
Definition4
A vertexweighted graph (G, wv ) is defined as a
graph G together with a positive weightfunction
onitsvertexset wv : V (G ) R 0.
According to above definition we get next
definitions.
Definition5
The weighted domination number w (G ) of
(G, wv ) is the minimum weight
w( D ) v D
w ( v ) of a set D V (G) such that
everyvertex x V ( D) D hasaneighborin D .
Definition6
The weighted connected domination number
Cw (G ) of (G, wv ) is the minimum weight
w( D C ) vD w(v ) of a set DC V (G) such that
everyvertexof V \ DC isadjacenttoavertexin DC
C

of G if every vertex of V \ DC is adjacent to a andthesubgraphinducedby DC isconnected.

vertex in DC and the subgraph induced by DC is
connected. The minimum cardinality of a connected
dominating set of G is the connected domination Definition7
number c (G ). The weighted independent domination number
Iw (G ) of (G, wv ) is the minimum weight
w( D I ) vD w(v ) of a set DI V (G) such that if
I

574
notwo vertices of DI are connected by any edge of
(G, w) .
Similarly,itcanbedonefordirectedgraphs.
Taking into account the complexity of the
minimum dominating set, we should state, that in
general is NPhard problem. Efficient approximation
algorithms do exist under assumption that any
dominating set problem can be formulated as a set
covering problem. Thus, the greedy algorithm for
finding domination set is an analog of one that has
been presented in [4], [18]. This algorithms is
formulatedasfollows([4],[18]):
Algorithm1:
1 Let V {1,..., n}, anddefine D .
2 Greedy add a new node to D in each iteration,
until D formsadominatingset.
3 Anode j ,issaidtobecoveredif j D orifany graph graph G together with a positive weight
neighborof j isin D .Anodethatisnotcovered
issaidtobeuncovered.
4 In each iteration, put into D the least indexed
node that covers the maximum number of
uncoverednodes.
5 Stopwhenallthenodesarecovered.
For graph in Figure 1, Greedy will return
D {1,2}.
Incaseoftheminimumconnecteddominationset,
theGreedyalgorithmisalsoused.However,todefine
themsomepreliminariesarenecessary[4],[19].
We consider graph G and subset C of vertices
in G .Wecandividedallverticesintothreeclasses:
belongto C arecalledblack vb ;
not belong to C but adjacent to C are called
gray v g ;
notin C andnotadjacentto C arecalledwhite
v w .
Under assumption that C is connected
dominatingsetifandonlyifthereisnowhitevertex
and the subgraph induced by black vertices is
connected. The sum of the number of white vertices
and the number of connected components of the
subgraph induced by black vertices (black
components) equals 1. The greedy algorithm with
potential function equal to the number of white
vertices plus number of black components is as
follows[4],[19].
Algorithm2:
Set w : 1;
while w 1 do
Ifthereexistsawhiteorgrayvertexsuchthat
coloringitinblackanditsadjacentwhite
verticesingraywouldreducethevalueof
potential function
thenchoosesuchavertextomakethevalueof
potentialfunctionreduceinamaximumamount
elseset w : 0;
3.2 Spanningtrees
The appropriate tool for the transportation system
analysisintermsofitsinfrastructureconnectingeach
nodethespanningtreeisproposed.Itcanbedonefor
bothundirectedanddirectedcases.
Definition8
The spanning tree T of a connected, undirected
graph G is a tree composed of all the vertices and
some(orperhapsall)oftheedgesofG.
Informally, a spanning tree of G is a selection of
edges of G that form a tree spanning every vertex. It
means,thateveryvertexliesinthetree,butnocycles
(orloops)areformed[4].
According to Definition 5, the edgeweighted
graphisintroduced.
Definition9
An edgeweighted graph (G, we ) is defined as a
functiononitsedgeset we : E (G ) R 0.
Furthermore, for edgeweighted graphs it is
possible to find minimum spanning tree, which is
definedasfollows.
Definition10
A minimum spanning tree (MST) of an edge
weightedgraphisaspanningtreewhoseweight(the
sumoftheweightsofitsedges)isnogreaterthanthe
weightofanyotherspanningtree.
It can be done according to two wellknown
algorithms:KruskalsandPrims.Theycanbeshown
asfollows[2],[4]:
Algortihm3(Kruskals)
1 Find the cheapest edge in the graph (if there is
morethanone,pickoneatrandom).Markitwith
anygivencolour,sayred.
2 Findthecheapestunmarked(uncoloured)edgein
the graph that doesnt close a coloured or red
circuit.Markthisedgered.
3 RepeatStep2untilyoureachouttoeveryvertexof
thegraph(oryouhaven1colourededges).
The red edges form the desired minimum
spanningtree.
Algortihm4(Prims)
1 Pickanyvertexasastartingvertex v start .Mark
itwithanygivencolour(red).
2 Find the nearest neighbor of v start (call it P1).
Mark both P1 and the edge v start P1 red. Cheapest
unmarked (uncoloured) edge in the graph that
doesnt close a coloured circuit. Mark this edge
withsamecolourofStep2.
3 Find the nearest uncoloured neighbor to the red
subgraph(i.e.,theclosestvertextoanyredvertex).
Mark it and the edge connecting the vertex to the
redsubgraphinred.
4 RepeatStep3untilallverticesaremarkedred.
Theredsubgraphisaminimumspanningtree.
575
 Theaboveknowledge(Sections3.1and3.2)canbe
applied to analyze transportation systems,
particularly its infrastructure (even critical). For
instance it is useful to choose the routes and nodes
classified as critical infrastructures [4], [8]. To show
possible applications of discussed methods, the
academicexampleisshownbellow.
Example
Let us consider the hypothetic map of road
connections, what is given by schema presented in
Figure4.Wechooseelevennodesanddescribethem
the consecutive number and the time of red light (in
seconds).Theedgesbetweenthenodesaredescribed
bythenumberofkilometers.
Figure4.Theexemplaryschemeofroadinfrastructure.
Our main goal is to choose the minimal spanning
tree and minimal independent domination set, i.e.
findinganindependentdominationnumber.
According the Kruskals Algorithm, the minimal
spanningtreeisgiveninFigure5asthesetofdouble
edges.
Figure5.Minimalspanningtree(KruskalsAlgortihm)
In this way, the minimal number of kilometers is
equalto134[km].AccordingtoAlgorithm1,thetime
ofredlightsisequaledto430[seconds].Itisminimal
dominatingset,whatismarkedinFigure6withblack
nodes(vertices).
576
Figure6.Minimalweightedindependentdominationset.
3.3 Introductiontotheknapsackproblem
One of the most known problem in graph theory is
theknapsackproblem.Ithasbeenstudiedsince1897
and is combinatorial optimization problem. General
descriptionisbasedongivenasetofitems,eachwith
a mass and a value [3]. There is determined the
numberofeachitemtoincludeinacollectionsothat
the total weight is less than or equal to a given limit
andthetotalvalueisaslargeaspossible(accordingto
(1)).Theknapsackproblemhasmanymodifiedforms,
i.e.toformofthe01knapsackproblem.Inthiswayis
formulated as multiobjective optimization
problem[3].
Generalassumptionabouta01knapsackproblem
is it consists of a set of items, weight and profit
associated with each item, and an upper bound for
thecapacityoftheknapsack.Wewantfindasubsetof
items which maximizes the profits and all selected
itemsfitintotheknapsack,i.e.,thetotalweightdoes
notexceedthegivencapacity[23].
Afterassuminganarbitrarynumberofknapsacks,
the singleobjective problem is extended directly to
themultiobjectivecase.Formally,themultiobjective
01knapsackproblemcanbedefinedinthefollowing
way[23]:
Given a set of m items and a set of n
knapsacks,with
pi , j profitofitem j accordingtoknapsack i ,
wi , j weightofitem j accordingtoknapsack i ,
c i capacityofknapsack i ,
findavector x x1 , x 2 , , x m 0,1 , suchthat
m
m
i {1, 2,..., n} : w i,j x j c i (6)
j1
and for which f ( x ) f 1 ( x ), f 2 ( x ), , f n ( x ) is
maximum,where
m
fi ( x ) pi,j x j (7)
j1
and x j 1 ifandonlyifwhenitem j ischosen.
Nowadays,thebestsolutionsofknapsackproblem
are described in terms of a genetic methods. As it is
shown in [3] it can be very useful tool for multi Definition14
objectiveoptimizationoftransportationsystems.
The value of flow f uv
isthesourceof Gst .
v:( s , v ) A
f sv , where s

3.4 Flowsintransportationsystems Generally, the main problem in traffic flows is

The graph theory is the basis for analyzing a traffic
flow in transportation systems and networks [13],
[17]. In section 3 the definition of undirected graph
was introduced. But, for more detailed analysis of
traffic flows, the digraphs should be defined. Thus,
thegraph G (V , A) isdirectedgraphordigraph
d
with a set V, whose elements are called vertices or
nodes and set A of ordered pairs of vertices, called
arcs,directededges,orarrows(Figure7).
maximize value of f uv , which is called maximum
flow problem. One of the solutions is using residual
network,whichisdefinedasfollows[17].
Definition15
For given G st and flow fuv , we define the
residualnetwork G st asfollows:
f
1 Thenodesetof Gst isthesameasthatof Gst ;
2 Each edge e (u , v ) of Gst is with capacity
f

ce f e ;
3 Each edge e (v, u ) of Gst is with capacity
f

fe .
Furthermore c p min{cuv : (u , v)f p}
f f
is
residualcapacityofpathpinnetwork Gst .
According to above definitions, the algorithm of
finding the maximal flow in network is given as
follows[13],[17].

Algorithm5(FordFulkerson)
Foreachedge e (u , v ) do
Begin
f uv =0
Figure7.Theexemplarydirectedgraph G . f vu =0
End
ThemainreasonforthecreationofthisSubsection Whileexistspath p from s do t in Gstf do
is fact that transportation engineers need know the Begin
c p min{cuv : (u , v) p}
f f
trafficflowtheoryasatoolthathelpsunderstandand
express the problems of evaluating the capacity of Foreach e (u , v ) p do
existing roadways or designing new ones. Thus, the begin
f
followingdefinitionsareimportant[17]. f uv = fuv + c p
f vu = fuv
End
Definition11 End
Let Gst (V , A, s, t ) be a network with Returnf.
s, t A being the source and the sink of Gst Based on algorithm 5, the exemplary residual
respectively. networkisproposedinFigure8.

Definition12
The capacity of an edge of network Gst is

mapping c : A R , which represents the
maximum amount of flow that can pass through an
edge.Itisdenotedas cuv , where u , v A.

Definition13
A flow in network Gst is mapping
f uv : A R , where u , v A, whichsubjectstothe
followingtwoconstrains:
1 f uv cuv , (capacity constraint: the flow of
( u , v ) A
anedgecannotexceeditscapacity)
2
vV \{ s , t }
of

f u:( u , v ) A f vu , (conservation
u :( u , v ) A uv
flows: the sum of the flows entering a node
must equal the sum of the flows exiting a node,
exceptforthesourceandthesinknodes).

Figure8. Exemplary original and residual network, where
s:=1,t:=6.

577
4 CONCLUSION
Inthepaper,theconceptofcriticalinfrastructureshas
been presented. Some review and classifications of
wellknown information about optimization, graph
theoryandnetworkflowtheoryhavebeendone.The
SPEA algorithm has been described stepbystep and
the knapsack problem with its binary modification
has been presented. It has also been used the SPEA
algorithm to solve the 01 knapsack problem.
Furthermore,theselecteddefinitions,parametersand
algorithmsofgraphtheoryhavebeenintroducedand
applied to system transportation analysis. As the
example of possible application, the road
transportation system with the shortest time of red
light in nodes and the shortest kilometers have been
determined. The examples, from Section 3, are only
showing potential applications of methods,
algorithms and parameters, which are described in
thearticle.
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