COSC 3101A - Design and

Analysis of Algorithms
7
Dynamic Programming
Assembly-Line Scheduling
Matrix-Chain Multiplication
Elements of DP
Many of these slides are taken from Monica Nicolescu, Univ. of Nevada, Reno, monica@cs.unr.edu

Dynamic Programming
An algorithm design technique (like divide and
conquer)
Divide and conquer
Partition the problem into independent subproblems
Solve the subproblems recursively
Combine the solutions to solve the original problem

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Dynamic Programming
Applicable when subproblems are not independent
Subproblems share subsubproblems
A divide and conquer approach would repeatedly solve the
common subproblems
Dynamic programming solves every subproblem just once and
stores the answer in a table

Used for optimization problems

A set of choices must be made to get an optimal solution
Find a solution with the optimal value (minimum or maximum)
There may be many solutions that return the optimal value: an
optimal solution
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Dynamic Programming Algorithm

1. Characterize the structure of an optimal
solution
2. Recursively define the value of an optimal
solution
3. Compute the value of an optimal solution in a
bottom-up fashion
4. Construct an optimal solution from computed
information
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Assembly Line Scheduling

Automobile factory with two assembly lines
Each line has n stations: S1,1, . . . , S1,n and S2,1, . . . , S2,n
Corresponding stations S1, j and S2, j perform the same function
but can take different amounts of time a1, j and a2, j
Entry times e1 and e2 and exit times x1 and x2

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Assembly Line
After going through a station, can either:
stay on same line at no cost, or
transfer to other line: cost after Si,j is ti,j , j = 1, . . . , n - 1

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Assembly Line Scheduling

Problem:
what stations should be chosen from line 1 and which
from line 2 in order to minimize the total time through the
factory for one car?

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One Solution
Brute force
Enumerate all possibilities of selecting stations
Compute how long it takes in each case and choose
the best one

Problem:

0 if choosing line 2
at step j (= 3)

1 if choosing line 1
at step j (= n)

There are 2n possible ways to choose stations

Infeasible when n is large
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1. Structure of the Optimal Solution

Lets consider the fastest way possible to get
from the starting point through station S1,j
If j = 1: determine how long it takes to get through S1,1
If j 2, have two choices of how to get to S1, j:
Through S1, j - 1, then directly to S1, j
Through S2, j - 1, then transfer over to S1, j

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1. Structure of the Optimal Solution

Suppose that the fastest way through S1, j is
through S1, j 1
We must have taken a fastest way from entry through S1, j 1
If there were a faster way through S1, j - 1, we would use it instead

Similarly for S2, j 1

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Optimal Substructure
Generalization: an optimal solution to the problem
find the fastest way through S1, j contains
within it an optimal solution to subproblems: find
the fastest way through S1, j - 1 or S2, j - 1.
This is referred to as the optimal substructure
property
We use this property to construct an optimal
solution to a problem from optimal solutions to
subproblems
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2. A Recursive Solution
Define the value of an optimal solution in terms of the optimal
solution to subproblems
Assembly line subproblems
Finding the fastest way through station j on both lines, j = 1, 2, , n

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2. A Recursive Solution (cont.)

fi[j] = the fastest time to get from the starting point
through station Si,j

j = 1 (getting through station 1)

f1[1] = e1 + a1,1
f2[1] = e2 + a2,1

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2. A Recursive Solution (cont.)

Compute fi[j] for j = 2, 3, ,n, and i = 1, 2
Fastest way through S1, j is either:
fastest way through S1, j - 1 then directly through S1, j, or

f1[j] = f1[j - 1] + a1,j

fastest way through S2, j - 1, transfer from line 2 to line 1, then
through S1, j

f1[j] = f2[j -1] + t2,j-1 + a1,j

S1,j-1

S1,j

a1,j-1

a1,j
t2,j-1

f1[j] = min(f1[j - 1] + a1,j ,f2[j -1] + t2,j-1 + a1,j)

a2,j-1
S2,j-1

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2. A Recursive Solution (cont.)

f* = the fastest time to get through the entire factory
f* = min (f1[n] + x1, f2[n] + x2)

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2. A Recursive Solution (cont.)

e1 + a1,1

if j = 1

min(f1[j - 1] + a1,j ,f2[j -1] + t2,j-1 + a1,j)

if j 2

e2 + a2,1

if j = 1

min(f2[j - 1] + a2,j ,f1[j -1] + t1,j-1 + a2,j)

if j 2

f1[j] =

f2[j] =

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3. Computing the Optimal Solution

f* = min (f1[n] + x1, f2[n] + x2)
f1[j] = min(f2[j - 1] + a2,j ,f1[j -1] + t1,j-1 + a2,j)
1

f1[j]

f1(1)

f1(2)

f1(3)

f1(4)

f1(5)

f2[j]

f2(1)

f2(2)

f2(3)

f2(4)

f2(5)

4 times

2 times

Solving top-down would result in exponential

running time
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3. Computing the Optimal Solution

For j 2, each value fi[j] depends only on the values of
f1[j 1] and f2[j - 1]
Compute the values of fi[j]
in increasing order of j
1

increasing j
3

f1[j]
f2[j]
Bottom-up approach
First find optimal solutions to subproblems
Find an optimal solution to the problem from the subproblems

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Additional Information
To construct the optimal solution we need the sequence
of what line has been used at each station:
li[j] the line number (1, 2) whose station (j - 1) has been used
to get in fastest time through Si,j, j = 2, 3, , n
l* - the line whose station n is used to get in the fastest way
through the entire factory

increasing j
2

l1[j]
l2[j]
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Example

e1 + a1,1,

if j = 1

f1[j] = min(f1[j - 1] + a1,j ,f2[j -1] + t2,j-1 + a1,j)

1

f1[j]

18[1]

20[2]

24[1]

32[1]

f2[j]

12

16[1]

22[2]

25[1]

30[2]

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if j 2
f* = 35[1]
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4. Construct an Optimal Solution

Alg.: PRINT-STATIONS(l, n)
i l*
print line i , station n
for j n downto 2

do i li[j]
print line i , station j - 1

line 1, station 5
line 1, station 4
line 1, station 3
line 2, station 2
line 1, station 1

f1[j]/l1[j]

18[1]

20[2]

24[1]

32[1]

f2[j]/l2[j]

12

16[1]

22[2]

25[1]

30[2]

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l* = 1

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Dynamic Programming Algorithm

1. Characterize the structure of an optimal solution

Fastest time through a station depends on the fastest time on

previous stations

2. Recursively define the value of an optimal solution

f1[j] = min(f1[j - 1] + a1,j ,f2[j -1] + t2,j-1 + a1,j)

3. Compute the value of an optimal solution in a bottom-up

fashion

Fill in the fastest time table in increasing order of j (station #)

4. Construct an optimal solution from computed information

Use an additional table to help reconstruct the optimal solution

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Matrix-Chain Multiplication
Problem: given a sequence A1, A2, , An, compute
the product:
A1 A2 An
Matrix compatibility:
C =A B
colA = rowB
rowC = rowA
colC = colB

A1 A2 Ai Ai+1 An
coli = rowi+1
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Matrix-Chain Multiplication
In what order should we multiply the matrices?

A1 A2 An
Parenthesize the product to get the order in which
matrices are multiplied
E.g.:

A1 A2 A3 = ((A1 A2) A3)

= (A1 (A2 A3))

Which one of these orderings should we choose?
The order in which we multiply the matrices has a
significant impact on the cost of evaluating the product
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MATRIX-MULTIPLY(A, B)
if columns[A] rows[B]
then error incompatible dimensions
else for i 1 to rows[A]
do for j 1 to columns[B]
rows[A] cols[A] cols[B]
multiplications
do C[i, j] = 0
for k 1 to columns[A]
do C[i, j] C[i, j] + A[i, k] B[k, j]
k
j
i
rows[A]
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cols[B]
= i

k
B

A
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cols[B]

C
rows[A]

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Example
A1 A2 A3
A1: 10 x 100
A2: 100 x 5
A3: 5 x 50
1. ((A1 A2) A3):

A1 A2 = 10 x 100 x 5 = 5,000 (10 x 5)

((A1 A2) A3) = 10 x 5 x 50 = 2,500

Total: 7,500 scalar multiplications

2. (A1 (A2 A3)):

A2 A3 = 100 x 5 x 50 = 25,000 (100 x 50)

(A1 (A2 A3)) = 10 x 100 x 50 = 50,000

Total: 75,000 scalar multiplications

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one order of magnitude

difference!!
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Matrix-Chain Multiplication
Given a chain of matrices A1, A2, , An, where
for i = 1, 2, , n matrix Ai has dimensions pi-1x pi,
fully parenthesize the product A1 A2 An in a
way that minimizes the number of scalar
multiplications.
A1
p0 x p1

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A2
p1 x p2

Ai
pi-1 x pi

Ai+1
pi x pi+1

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An
pn-1 x pn

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1. The Structure of an Optimal

Parenthesization
Notation:
Aij = Ai Ai+1 Aj, i j
For i < j:
Aij = Ai Ai+1 Aj
= Ai Ai+1 Ak Ak+1 Aj
= Aik Ak+1j
Suppose that an optimal parenthesization of Aij
splits the product between Ak and Ak+1, where
ik<j
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Optimal Substructure
Aij = Aik Ak+1j
The parenthesization of the prefix Aik must be an
optimal parentesization
If there were a less costly way to parenthesize Aik, we
could substitute that one in the parenthesization of Aij
and produce a parenthesization with a lower cost than
the optimum contradiction!
An optimal solution to an instance of the matrix-chain
multiplication contains within it optimal solutions to
subproblems
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2. A Recursive Solution
Subproblem:
determine the minimum cost of parenthesizing
Aij = Ai Ai+1 Aj

for 1 i j n

Let m[i, j] = the minimum number of

multiplications needed to compute Aij
Full problem (A1..n): m[1, n]
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2. A Recursive Solution (cont.)

Define m recursively:
i = j: Aii = Ai m[i, i] = 0, for i = 1, 2, , n
i < j: assume that the optimal parenthesization splits
the product Ai Ai+1 Aj between Ak and Ak+1, i k < j

Aij = Aik Ak+1j

m[i, j] = m[i, k]
Aik
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m[k+1, j]
Ak+1j
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pi-1pkpj
AikAk+1j
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2. A Recursive Solution (cont.)

Consider the subproblem of parenthesizing
Aij = Ai Ai+1 Aj
pi-1pkpj

= Aik Ak+1j
m[i, k]

for 1 i j n

for i k < j

m[k+1,j]

m[i, j] = the minimum number of multiplications

needed to compute the product Aij
m[i, j] = m[i, k]

min # of multiplications
to compute Aik

min # of multiplications # of multiplications

to compute Ak+1j
to compute AikAkj

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m[k+1, j]

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p i-1pkpj

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2. A Recursive Solution (cont.)

m[i, j] = m[i, k]

m[k+1, j]

pi-1pkpj

We do not know the value of k

There are j i possible values for k: k = i, i+1, , j-1

Minimizing the cost of parenthesizing the product

Ai Ai+1 Aj becomes:
0
if i = j
m[i, j] = min {m[i, k] + m[k+1, j] + pi-1pkpj} if i < j
ik<j

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Reconstructing the Optimal Solution

Additional information to maintain:
s[i, j] = a value of k at which we can split
the product Ai Ai+1 Aj in order
to obtain an optimal parenthesization

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3. Computing the Optimal Costs

0
if i = j
m[i, j] = min {m[i, k] + m[k+1, j] + pi-1pkpj} if i < j
ik<j

How many subproblems do we have?

Parenthesize Aij for 1 i j n
One problem for each choice of i and j

(n2)

A recurrent algorithm may encounter each

subproblem many times in different branches of the
recursion overlapping subproblems
Compute a solution using a tabular bottom-up
approach
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3. Computing the Optimal Costs (cont.)

0
if i = j
m[i, j] = min {m[i, k] + m[k+1, j] + pi-1pkpj} if i < j
ik<j

How do we fill in the tables m[1..n, 1..n] and s[1..n, 1..n] ?

Determine which entries of the table are used in computing m[i, j]
m[i, j] = cost of computing a product of j i 1 matrices
m[i, j] depends only on costs for products of fewer than j i 1
matrices

Aij = Aik Ak+1j

Fill in m such that it corresponds to solving problems of increasing
length

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3. Computing the Optimal Costs (cont.)

0
if i = j
m[i, j] = min {m[i, k] + m[k+1, j] + pi-1pkpj} if i < j
ik<j

Length = 0: i = j, i = 1, 2, , n
Length = 1: j = i + 1, i = 1, 2, , n-1
1

m[1, n] gives the optimal

solution to the problem

Compute rows from bottom to top

and from left to right
In a similar matrix s we keep the
optimal values of k
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nd
o
t
c
s
e
r
i
s n f

3
2
1

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Example: min {m[i, k] + m[k+1, j] + pi-1pkpj}

m[2, 2] + m[3, 5] + p1p2p5
m[2, 3]
5] +
= m[4,
min 5] + p1p3p5
m[2,
m[2, 4] + m[5, 5] + p1p4p5
1

k=2
k=3
k=4

6
5
4

Values m[i, j] depend only

on values that have been
previously computed

2
1
i
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Example
1

Compute A1 A2 A3

A1: 10 x 100 (p0 x p1)

A2: 100 x 5 (p1 x p2)

A3: 5 x 50

(p2 x p3)

2
1

7500

2
2

3
0

25000
0

5000
0

m[i, i] = 0 for i = 1, 2, 3
m[1, 2] = m[1, 1] + m[2, 2] + p0p1p2

(A1A2)

= 0 + 0 + 10 *100* 5 = 5,000
m[2, 3] = m[2, 2] + m[3, 3] + p1p2p3

(A2A3)

= 0 + 0 + 100 * 5 * 50 = 25,000
m[1, 3] = min m[1, 1] + m[2, 3] + p0p1p3 = 75,000 (A1(A2A3))
m[1, 2] + m[3, 3] + p0p2p3 = 7,500
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((A1A2)A3)
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l =3
l=2
35*15*5=2
625

10*20*25=
5000

m[3,5] = min

m[3,4]+m[5,5] + 15*10*20
=750 + 0 + 3000 = 3750
m[3,3]+m[4,5] + 15*5*20
=0 + 1000 + 1500 = 2500

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4. Construct the Optimal Solution

Store the optimal choice made at each
subproblem
s[i, j] = a value of k such that an optimal
parenthesization of Ai..j splits the product
between Ak and Ak+1
s[1, n] is associated with the entire product A1..n
The final matrix multiplication will be split at k = s[1, n]
A1..n = A1..s[1, n] As[1, n]+1..n
For each subproduct recursively find the
corresponding value of k that results in an optimal
parenthesization
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4. Construct the Optimal Solution (cont.)

s[i, j] = value of k such that the optimal
parenthesization of Ai Ai+1 Aj splits the
product between Ak and Ak+1
1

A1..n = A1..s[1, n] As[1, n]+1..n

s[1, n] = 3 A1..6 = A1..3 A4..6
s[1, 3] = 1 A1..3 = A1..1 A2..3
s[4, 6] = 5 A4..6 = A4..5 A6..6
j

i
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4. Construct the Optimal Solution (cont.)

PRINT-OPT-PARENS(s, i, j)

then print Ai

else print (

if i = j

PRINT-OPT-PARENS(s, i, s[i, j])

PRINT-OPT-PARENS(s, s[i, j] + 1, j)
print )

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Example: A1 A6

( ( A1 ( A2 A3 ) ) ( ( A4 A5 ) A6 ) )
s[1..6, 1..6]

else print (
4
PRINT-OPT-PARENS(s, i, s[i, j])
3
PRINT-OPT-PARENS(s, s[i, j] + 1, j)
2
print )

PRINT-OPT-PARENS(s, i, j)
if i = j
then print Ai

P-O-P(s, 1, 6) s[1, 6] = 3
i = 1, j = 6 ( P-O-P (s, 1, 3) s[1, 3] = 1
i = 1, j = 3 (
P-O-P(s, 1, 1) A1

P-O-P(s, 2, 3) s[2, 3] = 2
i = 2, j = 3 ( P-O-P (s, 2, 2) A2
P-O-P (s, 3, 3) A3
)
)

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Elements of Dynamic Programming

Optimal Substructure
An optimal solution to a problem contains within it an
optimal solution to subproblems
Optimal solution to the entire problem is built in a
bottom-up manner from optimal solutions to
subproblems

Overlapping Subproblems
If a recursive algorithm revisits the same subproblems
over and over the problem has overlapping
subproblems
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Optimal Substructure - Examples

Assembly line
Fastest way of going through a station j contains:
the fastest way of going through station j-1 on either
line

Matrix multiplication
Optimal parenthesization of Ai Ai+1 Aj that splits
the product between Ak and Ak+1 contains:
an optimal solution to the problem of parenthesizing
Ai..k and Ak+1..j
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Discovering Optimal Substructure

1. Show that a solution to a problem consists of making a
choice that leaves one or more similar problems to be
solved
2. Suppose that for a given problem you are given the
choice that leads to an optimal solution
3. Given this choice determine which subproblems result
4. Show that the solutions to the subproblems used within
the optimal solution must themselves be optimal

Cut-and-paste approach

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Parameters of Optimal Substructure

How many subproblems are used in an optimal
solution for the original problem
Assembly line: One subproblem (the line that gives best time)
Matrix multiplication: Two subproblems (subproducts A , A )
i..k

k+1..j

How many choices we have in determining

which subproblems to use in an optimal solution
Assembly line: Two choices (line 1 or line 2)
Matrix multiplication: j - i choices for k (splitting the product)
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Parameters of Optimal Substructure

Intuitively, the running time of a dynamic
programming algorithm depends on two factors:
Number of subproblems overall
How many choices we look at for each subproblem

Assembly line
(n) subproblems (n stations)
2 choices for each subproblem

(n) overall

Matrix multiplication:
(n2) subproblems (1 i j n)
At most n-1 choices
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(n3) overall
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Readings
Chapter 15

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