Cut arcs , or strong bridges , are one of the most fundamental reachability notions in directed graphs. Specifically, in a strongly connected graph \(G=(V,E)\) ( \(|V|=n\) , \(|E|=m\) ), a cut arc is an arc \(e\in E\) for which there exist \(u,v\in V\) , such that all \( u \) - \( v \) walks contain \( e \) . In this article, we generalise this notion to cut paths , that is, walks \( W \) for which there exist \(u,v\in V\) , such that all \( u \) - \( v \) walks contain \( W \) as subwalk. We first prove various properties of cut paths and define their remainder structure , which we use to present a simple \(O(m)\) -time verification algorithm for a cut path. We further show that a graph contains at most \(O(n)\) maximal cut paths of length at most \(O(n)\) each, and present an optimal \(O(n^{2})\) enumeration algorithm for maximal cut paths. We apply cut paths and their remainder structure to improve several reachability problems from bioinformatics, as follows. A walk is called safe if it is a subwalk of every node-covering closed walk of a strongly connected graph. Multi-safety is defined analogously, by considering node-covering sets of closed walks instead. Cut paths provide simple \(O(m)\) -time algorithms verifying if a walk is safe or multi-safe. Further, by simultaneous computation of remainder structures of all subwalks of a cut path in linear time, we can identify all maximal multi-safe walks in \(O(mn)\) time. This improves over the state-of-the-art algorithm running in time \(O(m^{2}+n^{3}\log n)\) .

Minimum flow decomposition (MFD) is the NP-hard problem of finding a smallest decomposition of a network flow/circulation X on a directed graph G into weighted source-to-sink paths whose weighted sum equals X . We show that, for acyclic graphs, considering the width of the graph (the minimum number of paths needed to cover all of its edges) yields advances in our understanding of its approximability. For the version of the problem that uses only non-negative weights, we identify and characterise a new class of width-stable graphs, for which a popular heuristic is a O (log Val ( X ))-approximation ( Val ( X ) being the total flow of X ), and strengthen its worst-case approximation ratio from \(\Omega (\sqrt {m})\) to Ω ( m /log m ) for sparse graphs, where m is the number of edges in the graph. We also study a new problem on graphs with cycles, Minimum Cost Circulation Decomposition (MCCD), and show that it generalises MFD through a simple reduction. For the version allowing also negative weights, we give a (⌈ log ‖ X ‖ ⌉ +1)-approximation (‖ X ‖ being the maximum absolute value of X on any edge) using a power-of-two approach, combined with parity fixing arguments and a decomposition of unitary circulations (‖ X ‖ ≤ 1), using a generalised notion of width for this problem. Finally, we disprove a conjecture about the linear independence of minimum (non-negative) flow decompositions posed by Kloster et al. [ 2018 ], but show that its useful implication (polynomial-time assignments of weights to a given set of paths to decompose a flow) holds for the negative version.

Genome assembly asks to reconstruct an unknown string from many shorter substrings of it. Even though it is one of the key problems in Bioinformatics, it is generally lacking major theoretical advances. Its hardness stems both from practical issues (size and errors of real data), and from the fact that problem formulations inherently admit multiple solutions. Given these, at their core, most state-of-the-art assemblers are based on finding non-branching paths ( unitigs ) in an assembly graph. While such paths constitute only partial assemblies, they are likely to be correct. More precisely, if one defines a genome assembly solution as a closed arc-covering walk of the graph, then unitigs appear in all solutions, being thus safe partial solutions. Until recently, it was open what are all the safe walks of an assembly graph. Tomescu and Medvedev (RECOMB 2016) characterized all such safe walks ( omnitigs ), thus giving the first safe and complete genome assembly algorithm. Even though maximal omnitig finding was later improved to quadratic time by Cairo et al. (ACM Trans. Algorithms 2019), it remained open whether the crucial linear-time feature of finding unitigs can be attained with omnitigs. We answer this question affirmatively, by describing a surprising O(m) -time algorithm to identify all maximal omnitigs of a graph with n nodes and m arcs, notwithstanding the existence of families of graphs with Θ (mn) total maximal omnitig size. This is based on the discovery of a family of walks ( macrotigs ) with the property that all the non-trivial omnitigs are univocal extensions of subwalks of a macrotig. This has two consequences: (1) A linear-time output-sensitive algorithm enumerating all maximal omnitigs. (2) A compact O(m) representation of all maximal omnitigs, which allows, e.g., for O(m) -time computation of various statistics on them. Our results close a long-standing theoretical question inspired by practical genome assemblers, originating with the use of unitigs in 1995. We envision our results to be at the core of a reverse transfer from theory to practical and complete genome assembly programs, as has been the case for other key Bioinformatics problems.

In a strongly connected graph $G = (V,E)$, a cut arc (also called strong bridge) is an arc $e \in E$ whose removal makes the graph no longer strongly connected. Equivalently, there exist $u,v \in V$, such that all $u$-$v$ walks contain $e$. Cut arcs are a fundamental graph-theoretic notion, with countless applications, especially in reachability problems. In this paper we initiate the study of cut paths, as a generalisation of cut arcs, which we naturally define as those paths $P$ for which there exist $u,v \in V$, such that all $u$-$v$ walks contain $P$ as subwalk. We first prove various properties of cut paths and define their remainder structures, which we use to present a simple $O(m)$-time verification algorithm for a cut path ($|V| = n$, $|E| = m$). Secondly, we apply cut paths and their remainder structures to improve several reachability problems from bioinformatics. A walk is called safe if it is a subwalk of every node-covering closed walk of a strongly connected graph. Multi-safety is defined analogously, by considering node-covering sets of closed walks instead. We show that cut paths provide simple $O(m)$-time algorithms verifying if a walk is safe or multi-safe. For multi-safety, we present the first linear time algorithm, while for safety, we present a simple algorithm where the state-of-the-art employed complex data structures. Finally we show that the simultaneous computation of remainder structures of all subwalks of a cut path can be performed in linear time. These properties yield an $O(mn)$ algorithm outputting all maximal multi-safe walks, improving over the state-of-the-art algorithm running in time $O(m^2+n^3)$. The results of this paper only scratch the surface in the study of cut paths, and we believe a rich structure of a graph can be revealed, considering the perspective of a path, instead of just an arc.

Minimum flow decomposition (MFD) is the NP-hard problem of finding a smallest decomposition of a network flow/circulation $X$ on a directed graph $G$ into weighted source-to-sink paths whose superposition equals $X$. We show that, for acyclic graphs, considering the \emph{width} of the graph (the minimum number of paths needed to cover all of its edges) yields advances in our understanding of its approximability. For the version of the problem that uses only non-negative weights, we identify and characterise a new class of \emph{width-stable} graphs, for which a popular heuristic is a \gwsimple-approximation ($|X|$ being the total flow of $X$), and strengthen its worst-case approximation ratio from $Ω(\sqrt{m})$ to $Ω(m / \log m)$ for sparse graphs, where $m$ is the number of edges in the graph. We also study a new problem on graphs with cycles, Minimum Cost Circulation Decomposition (MCCD), and show that it generalises MFD through a simple reduction. For the version allowing also negative weights, we give a $(\lceil \log \Vert X \Vert \rceil +1)$-approximation ($\Vert X \Vert$ being the maximum absolute value of $X$ on any edge) using a power-of-two approach, combined with parity fixing arguments and a decomposition of unitary circulations ($\Vert X \Vert \leq 1$), using a generalised notion of width for this problem. Finally, we disprove a conjecture about the linear independence of minimum (non-negative) flow decompositions posed by Kloster et al. [ALENEX 2018], but show that its useful implication (polynomial-time assignments of weights to a given set of paths to decompose a flow) holds for the negative version.

A minimum path cover (MPC) of a directed acyclic graph (DAG) G = (V, E) is a minimum-size set of paths that together cover all the vertices of the DAG. Computing an MPC is a basic polynomial problem, dating back to Dilworth's and Fulkerson's results in the 1950s. Since the size k of an MPC (also known as the width) can be small in practical applications, research has also studied algorithms whose running time is parameterized on k. We obtain two new MPC parameterized algorithms for DAGs running in time O(k2|V| log |V| + |E|) and O(k3|V| + |E|). We also obtain a parallel algorithm running in O(k2|V| + |E|) parallel steps and using O(log |V|) processors (in the PRAM model). Our latter two algorithms are the first solving the problem in parameterized linear time. Finally, we show that we can transform (in O(k2|V|) time) a given MPC into another MPC that uses less than 2|V| distinct edges, which we prove to be asymptotically tight. As such, we also obtain edge sparsification algorithms preserving the width of the DAG with the same running time as our MPC algorithms. At the core of all our algorithms we interleave the usage of three techniques: transitive sparsification, shrinking of a path cover, and the splicing of a set of paths along a given path.

Abstract Given a directed graphGand a pair of nodessandt, ans-tbridgeofGis an edge whose removal breaks alls-tpaths ofG(and thus appears in alls-tpaths). Computing alls-tbridges ofGis a basic graph problem, solvable in linear time. In this paper, we consider a natural generalisation of this problem, with the notion of “safety” from bioinformatics. We say that a walkWissafewith respect to a set $${\mathcal {W}}$$ W ofs-twalks, ifWis a subwalk of all walks in $${\mathcal {W}}$$ W . We start by considering the maximal safe walks when $${\mathcal {W}}$$ W consists of: alls-tpaths, alls-ttrails, or alls-twalks ofG. We show that the solutions for the first two problems immediately follow from finding alls-tbridges after incorporating simple characterisations. However, solving the third problem requires non-trivial techniques for incorporating its characterisation. In particular, we show that there exists a compact representation computable in linear time, that allows outputting all maximal safe walks in time linear in their length. Our solutions also directly extend to multigraphs, except for the second problem, which requires a more involved approach. We further generalise these problems, by assuming that safety is defined only with respect to a subset ofvisibleedges. Here we prove a dichotomy between thes-tpaths ands-ttrails cases, and thes-twalks case: the former two are NP-hard, while the latter is solvable with the same complexity as when all edges are visible. We also show that the same complexity results hold for the analogous generalisations ofs-tarticulation points(nodes appearing in alls-tpaths). We thus obtain the best possible results for natural “safety”-generalisations of these two fundamental graph problems. Moreover, our algorithms are simple and do not employ any complex data structures, making them ideal for use in practice.

A multi-assembly problem asks to reconstruct multiple genomic sequences from mixed reads sequenced from all of them. Standard formulations of such problems model a solution as a path cover in a directed acyclic graph, namely a set of paths that together cover all vertices of the graph. Since multi-assembly problems admit multiple solutions in practice, we consider an approach commonly used in standard genome assembly: output only partial solutions (contigs, or safe paths), that appear in all path cover solutions. We study constrained path covers, a restriction on the path cover solution that incorporate practical constraints arising in multi-assembly problems. We give efficient algorithms finding all maximal safe paths for constrained path covers. We compute the safe paths of splicing graphs constructed from transcript annotations of different species. Our algorithms run in less than 15 seconds per species and report RNA contigs that are over 99% precise and are up to 8 times longer than unitigs. Moreover, RNA contigs cover over 70% of the transcripts and their coding sequences in most cases. With their increased length to unitigs, high precision, and fast construction time, maximal safe paths can provide a better base set of sequences for transcript assembly programs.

Genome assembly asks to reconstruct an unknown string from many shorter substrings of it. Even though it is one of the key problems in Bioinformatics, it is generally lacking major theoretical advances. Its hardness stems both from practical issues (size and errors of real data), and from the fact that problem formulations inherently admit multiple solutions. Given these, at their core, most state-of-the-art assemblers are based on finding non-branching paths (unitigs) in an assembly graph. While such paths constitute only partial assemblies, they are likely to be correct. More precisely, if one defines a genome assembly solution as a closed arc-covering walk of the graph, then unitigs appear in all solutions, being thus safe partial solutions. Until recently, it was open what are all the safe walks of an assembly graph. Tomescu and Medvedev (RECOMB 2016) characterized all such safe walks (omnitigs), thus giving the first safe and complete genome assembly algorithm. Even though omnitig finding was later improved to quadratic time, it remained open whether the crucial linear-time feature of finding unitigs can be attained with omnitigs. We answer this question affirmatively, by describing a surprising O(m)-time algorithm to identify all maximal omnitigs of a graph with n nodes and m arcs, notwithstanding the existence of families of graphs with Θ(mn) total maximal omnitig size. This is based on the discovery of a family of walks (macrotigs) with the property that all the non-trivial omnitigs are univocal extensions of subwalks of a macrotig. This has two consequences: (1) A linear-time output-sensitive algorithm enumerating all maximal omnitigs. (2) A compact O(m) representation of all maximal omnitigs, which allows, e.g., for O(m)-time computation of various statistics on them. Our results close a long-standing theoretical question inspired by practical genome assemblers, originating with the use of unitigs in 1995. We envision our results to be at the core of a reverse transfer from theory to practical and complete genome assembly programs, as has been the case for other key Bioinformatics problems.

Given a directed graph G and a pair of nodes s and t, an s-t bridge of G is an edge whose removal breaks all s-t paths of G. Similarly, an s-t articulation point of G is a node whose removal breaks all s-t paths of G. Computing the sequence of all s-t bridges of G (as well as the s-t articulation points) is a basic graph problem, solvable in linear time using the classical min-cut algorithm (Ford and Fulkerson, 1956). We show a simplified and self-contained algorithm computing all s-t bridges and s-t articulation points of G, based on a single graph traversal from s to t avoiding an arbitrary s-t path, which is interrupted at the s-t bridges. Its proof of correctness uses simple inductive arguments, making the problem an application of merely graph traversal, rather than of the more complex maximum flow problem.

In this article, we consider the following problem. Given a directed graph G , output all walks of G that are sub-walks of all closed edge-covering walks of G . This problem was first considered by Tomescu and Medvedev (RECOMB 2016), who characterized these walks through the notion of omnitig . Omnitigs were shown to be relevant for the genome assembly problem from bioinformatics, where a genome sequence must be assembled from a set of reads from a sequencing experiment. Tomescu and Medvedev (RECOMB 2016) also proposed an algorithm for listing all maximal omnitigs, by launching an exhaustive visit from every edge. In this article, we prove new insights about the structure of omnitigs and solve several open questions about them. We combine these to achieve an O ( nm )-time algorithm for outputting all the maximal omnitigs of a graph (with n nodes and m edges). This is also optimal, as we show families of graphs whose total omnitig length is Ω( nm ). We implement this algorithm and show that it is 9--12 times faster in practice than the one of Tomescu and Medvedev (RECOMB 2016).

Covering alignment problems arise from recent developments in genomics; so called pan-genome graphs are replacing reference genomes, and advances in haplotyping enable full content of diploid genomes to be used as basis of sequence analysis. In this paper, we show that the computational complexity will change for natural extensions of alignments to pan-genome representations and to diploid genomes. More broadly, our approach can also be seen as a minimal extension of sequence alignment to labelled directed acyclic graphs (labeled DAGs). Namely, we show that finding acovering alignmentof two labeled DAGs is NP-hard even on binary alphabets. A covering alignment asks for two paths$R_1$(red) and$G_1$(green) in DAG$D_1$and two paths$R_2$(red) and$G_2$(green) in DAG$D_2$that cover the nodes of the graphs and maximize the sum of the global alignment scores:$\mathsf {as}(\mathsf {sp}(R_1),\mathsf {sp}(R_2))+\mathsf {as}(\mathsf {sp}(G_1),\mathsf {sp}(G_2))$, where$\mathsf {sp}(P)$is the concatenation of labels on the path$P$. Pair-wise alignment of haplotype sequences forming a diploid chromosome can be converted to a two-path coverable labelled DAG, and then the covering alignment models the similarity of two diploids over arbitrary recombinations. We also give a reduction to the other direction, to show that such a recombination-oblivious diploid alignment is NP-hard on alphabets of size 3.

Simple Temporal Networks (STNs) are a well-studied model for representing and reasoning about time. An STN comprises a set of real-valued variables called time-points, together with a set of binary constraints, each of the form Y <= X+w. The problem of finding a feasible schedule (i.e., an assignment of real numbers to time-points such that all of the constraints are satisfied) is equivalent to the Single Source Shortest Path problem (SSSP) in the STN graph. Simple Temporal Networks with Uncertainty (STNUs) augment STNs to include contingent links that can be used, for example, to represent actions with uncertain durations. The duration of a contingent link is not controlled by the planner, but is instead controlled by a (possibly adversarial) environment. Each contingent link has the form, , where 0 < l <= u < infty. Once the planner executes the activation time-point A, the environment must execute the contingent time-point C at some time A+Delta, where Delta in [l,u]. Crucially, the planner does not know the value of Delta in advance, but only discovers it when C executes. An STNU is dynamically controllable (DC) if there is a strategy that the planner can use to execute all of the non-contingent time-points, such that all of the constraints are guaranteed to be satisfied no matter which durations the environment chooses for the contingent links. The strategy can be dynamic in that it can react in real time to the contingent durations it observes. Recently, an upper bound of O(N^3) was given for the DC-checking problem for STNUs, where N is the number of time-points. This paper introduces a new algorithm, called the RUL^- algorithm, for solving the DC-checking problem for STNUs that improves on the O(N^3) bound. The worst-case complexity of the RUL^- algorithm is O(MN+K^2N+KN log N), where N is the number of time-points, M is the number of constraints, and K is the number of contingent time-points. If M is O(N^2), then the complexity reduces to O(N^3); however, in sparse graphs the complexity can be much less. For example, if M is O(N log N), and K is O(sqrt{N}), then the complexity of the RUL^- algorithm reduces to O(N^2 log N). The RUL^- algorithm begins by using the Bellman-Ford algorithm to compute a potential function. It then performs at most 2K rounds of computations, interleaving novel applications of Dijkstra's algorithm to (1) generate new edges and (2) update the potential function in response to those new edges. The constraint-propagation/edge-generation rules used by the RUL^- algorithm are distinguished from related work in two ways. First, they only generate unlabeled edges. Second, their applicability conditions are more restrictive. As a result, the RUL^- algorithm requires only O(K) rounds of Dijkstra's algorithm, instead of the O(N) rounds required by other approaches. The paper proves that the RUL^- algorithm is sound and complete for the DC-checking problem for STNUs.

Genome assembly is the problem of reconstructing a genome sequence from a set of reads from a sequencing experiment. Typical formulations of the assembly problem admit in practice many genomic reconstructions, and actual genome assemblers usually output contigs, namely substrings that are promised to occur in the genome. To bridge the theory and practice, Tomescu and Medvedev [RECOMB 2016] reformulated contig assembly as finding all substrings common to all genomic reconstructions. They also gave a characterization of those walks (omnitigs) that are common to all closed edge-covering walks of a (directed) graph, a typical notion of genomic reconstruction. An algorithm for listing all maximal omnitigs was also proposed, by launching an exhaustive visit from every edge. In this paper, we prove new insights about the structure of omnitigs and solve several open questions about them. We combine these to achieve an O(nm)-time algorithm for outputting all the maximal omnitigs of a graph (with n nodes and m edges). This is also optimal, as we show families of graphs whose total omnitig length is Omega(nm). We implement this algorithm and show that it is 9-12 times faster in practice than the one of Tomescu and Medvedev [RECOMB 2016].

Computing the simulation preorder of a given Kripke structure (i.e., a directed graph with n labeled vertices) has crucial applications in model checking of temporal logic. It amounts to solving a specific two-players reachability game, called simulation game. We offer the first conditional lower bounds for this problem, and we relate its complexity (for computation, verification, and certification) to some variants of n × n matrix multiplication. We show that any O(na)-time algorithm for simulation games, even restricting to acyclic games/structures, can be used to compute n χ n boolean matrix multiplication (BMM) in O(nα) time. In the acyclic case, we match this bound by presenting the first subcubic algorithm, based on fast BMM, and running in nω +°(1) time (where ω < 2.376 is the exponent of matrix multiplication). For both acyclic and cyclic structures, we point out the existence of natural and canonical O(n2)-size certificates, that can be verified in truly subcubic time by means of matrix multiplication. In the acyclic case, O(n2) time is sufficient, employing standard (+, ×)-matrix product verification. In the cyclic case, a min-edge witness matrix multiplication (EWMM) is used, i.e., a matrix multiplication on the semi-ring (max, ×) where one matrix contains only 0's and 1's, which is computable in truly subcubic n(3+ω)/2+o(1) time. Finally, we show a reduction from EWMM to cyclic simulation games which implies a separation between the cyclic and the acyclic cases, unless EWMM can be verified in nω+°(1) time.

A Conditional Simple Temporal Network (CSTN) augments a Simple Temporal Network (STN) to include special time-points, called observation time-points. In a CSTN, the agent executing the network controls the execution of every time-point. However, each observation time-point has a unique propositional letter associated with it and, when the agent executes that time-point, the environment assigns a truth value to the corresponding letter. Thus, the agent observes but, does not control the assignment of truth values. A CSTN is dynamically consistent (DC) if there exists a strategy for executing its time-points such that all relevant constraints will be satisfied no matter which truth values the environment assigns to the propositional letters. Alternatively, in a Labeled Simple Temporal Network (Labeled STN) - also called a Temporal Plan with Choice - the agent executing the network controls the assignment of values to the so-called choice variables. Furthermore, the agent can make those assignments at any time. For this reason, a Labeled STN is equivalent to a Disjunctive Temporal Network. This paper incorporates both of the above extensions by augmenting a CSTN to include not only observation time-points but also decision time-points. A decision time-point is like an observation time-point in that it has an associated propositional letter whose value is determined when the decision time-point is executed. It differs in that the agent - not the environment - selects that value. The resulting network is called a CSTN with Decisions (CSTND). This paper shows that a CSTND generalizes both CSTNs and Labeled STNs, and proves that the problem of determining whether any given CSTND is dynamically consistent is PSPACE-complete. It also presents algorithms that address two sub-classes of CSTNDs: (1) those that contain only decision time-points; and (2) those in which all decisions are made before execution begins.

A Simple Temporal Network (STN) consists of time points modeling temporal events and constraints modeling the minimal and maximal temporal distance between them. A Simple Temporal Network with Decisions (STND) extends an STN by adding decision time points to model temporal plans with decisions. A decision time point is a special kind of time point that once executed allows for deciding a truth value for an associated Boolean proposition. Furthermore, STNDs label time points and constraints by conjunctions of literals saying for which scenarios (i.e., complete truth value assignments to the propositions) they are relevant. Thus, an STND models a family of STNs each obtained as a projection of the initial STND onto a scenario. An STND is consistent if there exists a consistent scenario (i.e., a scenario such that the corresponding STN projection is consistent). Recently, a hybrid SAT-based consistency checking algorithm (HSCC) was proposed to check the consistency of an STND. Unfortunately, that approach lacks experimental evaluation and does not allow for the synthesis of all consistent scenarios. In this paper, we propose an incremental HSCC algorithm for STNDs that (i) is faster than the previous one and (ii) allows for the synthesis of all consistent scenarios and related early execution schedules (offline temporal planning). Then, we carry out an experimental evaluation with KAPPA, a tool that we developed for STNDs. Finally, we prove that STNDs and disjunctive temporal networks (DTNs) are equivalent.

Simple Temporal Networks with Uncertainty (STNUs) are a well-studied model for representing temporal constraints, where some intervals (contingent links) have an unknown but bounded duration, discovered only during execution. An STNU is dynamically controllable (DC) if there exists a strategy to execute its time-points satisfying all the constraints, regardless of the actual duration of contingent links revealed during execution. In this work we present a new system of constraint propagation rules for STNUs, which is sound-and-complete for DC checking. Our system comprises just three rules which, differently from the ones proposed in all previous works, only generate unconditioned constraints. In particular, after applying our sound rules, the network remains an STNU in all respects. Moreover, our completeness proof is short and non-algorithmic, based on the explicit construction of a valid execution strategy. This is a substantial simplification of the theory which underlies all the polynomial-time algorithms for DC-checking. Our analysis also shows: (1) the existence of late execution strategies for STNUs, (2) the equivalence of several variants of the notion of DC, (3) the existence of a fast algorithm for real-time execution of STNUs, which runs in O(KN) total time in a network with K contingent links and N time points, considerably improving the previous O(N^3)-time bound.

In this paper, we present a novel algorithm for the maximum a posteriori decoding (MAPD) of time-homogeneous Hidden Markov Models (HMM), improving the worst-case running time of the classical Viterbi algorithm by a logarithmic factor. In our approach, we interpret the Viterbi algorithm as a repeated computation of matrix-vector (max, +)-multiplications. On time-homogeneous HMMs, this computation is online: a matrix, known in advance, has to be multiplied with several vectors revealed one at a time. Our main contribution is an algorithm solving this version of matrix-vector (max,+)-multiplication in subquadratic time, by performing a polynomial preprocessing of the matrix. Employing this fast multiplication algorithm, we solve the MAPD problem in O(mn2/log n) time for any time-homogeneous HMM of size n and observation sequence of length m, with an extra polynomial preprocessing cost negligible for m > n. To the best of our knowledge, this is the first algorithm for the MAPD problem requiring subquadratic time per observation, under the assumption — usually verified in practice — that the transition probability matrix does not change with time.

We provide new bounds for the approximation of extremal distances (the diameter, the radius, and the eccentricities of all nodes) of an undirected graph with n nodes and m edges. First, we show under the Strong Exponential Time Hypothesis (SETH) of Impagliazzo, Paturi and Zane [JCSS01] that it is impossible to get a (3/2 – ∊)-approximation of the diameter or a (5/3 – ∊)-approximation of all the eccentricities in O(m2–δ) time for any ∊, δ > 0, even allowing for a constant additive term in the approximation. Second, we present an algorithmic scheme that gives a (2 – 1/2k)-approximation of the diameter and the radius and a (3 – 4/(2k + 1))-approximation of all eccentricities in expected time for any k ≥ 0. For k ≥ 2, this gives a family of previously unknown bounds, and approaches near-linear running time as k grows. Third, we observe a connection between the approximation of the diameter and the h-dominating sets, which are subsets of nodes at distance ≤ h from every other node. We give bounds for the size of these sets, related with the diameter.

Even after the proposal of various solution algorithms, the precise computational complexity of checking whether a Conditional Temporal Network is Dynamically Controllable had still remained widely open. This issue gets settled in this paper which provides constructions, algorithms, and bridging lemmas and arguments to formally prove that: (1) the problem is PSPACE-hard, and (2) the problem lies in PSPACE.