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Hungarian Algorithm
Vida MovahediElderlab, York University
June 2007
Outline
The Assignment Problem Bipartite Graphs and Matching Network Flow Hungarian Algorithm Example
Note: I am using some slides from reference files without any changes, I have marked them with a * in title
History
Two Hungarian mathematicians: Dénes König (1936) and Jenő Egerváry (1931)
Harold W. Kuhn, "The Hungarian Method for the assignment problem", Naval Research Logistic Quarterly, 2:83-97, 1955.
J. Munkres, "Algorithms for the Assignment and Transportation Problems", Journal of the Society of Industrial and Applied Mathematics, 5(1):32-38, 1957.
The Assignment Problem
The Simple Assignment Problem Four individuals (i=1, 2, 3, 4) Four jobs (j=1, 2, 3, 4)
Qualification Matrix
The Simple Assignment Problem (Cont.)
What is the largest number of jobs that can be assigned to qualified individuals (with not more than one job assigned to each individual)?
What is the largest number of 1’s that can be chosen from Q with no two chosen from the same row or column?
The Simple Assignment Problem (Cont.)
Start from an assignment
Impossible to improve
“Complete”
“Incomplete”
Transfer 1
Transfer 2
New Assignmen
t
Bipartite Graphs
& The Matching Problem
Bipartite Graph
Individuals
Jobs
Alternating Path
*Characterizing Bipartite Graphs
Theorem. Let G be a graph with at least 2 vertices. The following statements about G are equivalent: 1. G is bipartite. 2. G can be properly 2-colored. 3. G has no odd cycles.
*Applications of Bipartite Graphs
Personnel Assignment Problem A company has workers X1, …, Xm and jobs Y1, …, Yn. Each
worker is qualified to do some jobs, but not others. Can every worker be assigned a job?
Optimal Assignment Problem Same basic setup as above, but now each pair (Xi, Yj) is
given a weighting wij indicated the ‘effectiveness’ (e.g. profit to company) of assigning worker Xi to job Yj.
How should jobs be assigned to maximize the total effectiveness of the assignments?
Marriage Problem There are k men and m women, and each male-female pair
has expressed whether or not they are willing to marry. How can we pair them up so that all the men are paired
with acceptable mates (or the gender-reversed question)?
*Matchings
All three problems involve forming a matching in a bipartite graph:
Definition: Let G be a graph with {V1, V2}. A matching in G is a set of edges, no two of which share an endpoint.
Note: G does not need to bipartite, but in applications it often is.
A B C
D E F G H
000 100
010
001 101
111
110
011
Maximum and Perfect Matchings
A matching M is maximum if it has the largest size among all possible matchings.
A matching M is perfect if every vertex in G is incident with an edge in the matching. Does maximum imply perfect? Does perfect imply maximum?
*M-alternating path
Given a matching M, a M-alternating path is a path that alternates between edges in M and edges not in M
M!M
!MM
*M-augmenting path
M-augmenting paths can be used to enlarge matchings.
M!M!M
!MM
An M-alternating path whose endpoints are unsaturated by M.
Berge’s Theorem
Berge’s Theorem: A matching M is
maximum if and only if it has no
M-augmenting paths.
Formulating - Simple Assignment
Decision variable
Let A be the set of allowed assignments
0000
1000
0100
0001
X
otherwise0
j toassigned is i if1ijx
A(i,jx
jx
ix
xq
ij
Ajiiij
Ajijij
Ajiijij
in ) allfor 1,0
allfor ,1
allfor ,1s.t.
maximize
in ),(:
in ),(:
in ),(
1000
*1000
1*100
011*1
Q
Network Flow
Matching as Network Flow
ts
1000
*1000
1*100
011*1
Q
Bipartite Graph Network Flow Augmentation
Graph
The General Assignment Problem n individuals (i=1, 2, …, n) n jobs (j=1, 2, …, n)
cost cij, cost of individual i to do job j How can we assign the jobs to
individuals to minimize the total cost?
Rating rij indicating the quality of work How can we assign the jobs to
individuals to maximize the total rating?
Formulating- General Assignment
Decision variable
Let A be the set of allowed assignments and cij be the cost of assigning i to j.
otherwise0
j toassigned is i if1ijx
A(i,jx
jx
ix
xc
ij
Ajiiij
Ajijij
Ajiijij
in ) allfor 1,0
allfor ,1
allfor ,1s.t.
.minimize
in ),(:
in ),(:
in ),(
*Optimization Problem
St.X11+X12+X13+X14=1X21+X22+X24+X24=1X31+X32+X33+X34=1X41+X42+X43+X44=1X11+X21+X31+X41=1X12+X22+X32+X42=1X13+X23+X33+X43=1X14+X24+X34+X44=1
Min.
4X11+6X12+5X13+5X14
+7X21+4X22+5X23+6X24
+4X31+7X32+6X33+4X34
+5X41+3X42+4X43+7X44
Network Flow
Red 1 Red 2 Red 3 Red 4
Blue 1 2 5 3 4
Blue 2 13 2 4 5
Blue 3 4 3 8 3
Blue 4 13 6 4 3
Knowing the following capacities, what is the maximum flow from source to sink?
Augmentation Graphs -General case
u v0/75
0/10
Flow Graph
u v75
10
Augmentation Graph75-21=54
21+10=31
u v21/75
0/10
Flow Graph
u v
Augmentation Graph
The Hungarian Algorithm
Why Hungarian?
Bipartite graph G with V nodes and E edges
The Hungarian algorithm: O(V3) The Network Flow algorithm: O(V.E2)
Example
We must determine how jobs should be assigned to machines to minimize setup times, which are given below:
Job 1 Job 2 Job 3 Job 4
Machine 1 14 5 8 7
Machine 2 2 12 6 5
Machine 3 7 8 3 9
Machine 4 2 4 6 10
Hungarian Algorithm Two Observations
Adding a constant to any row or column does not change the solution Changing C
If C is nonnegative and cijxij = 0 then X is a solution.
Let 2 zeroes in C be called independent if they appear in different rows and columns.
Hungarian Theorem
A set of elements of a matrix are said to be ‘independent’ if no two of them lie in the same row or column.
König Theorem:If C is a matrix and m is the number of independent zero elements of C, then there are m lines which contain all the zero elements of C.
Hungarian Algorithm
1. From each line (row or column) subtract its minimum element.
2. Find a maximum set of N’ mutually independent zeroes.
3. if N’ = N such zeroes have been found: output their indices and stopotherwise: cover all zeroes in W with N’ lines and find the minimum uncovered value; subtract it from all uncovered elements, and add it to all doubly covered elements; go to 2.
Example
We must determine how jobs should be assigned to machines to minimize setup times, which are given below:
Job 1 Job 2 Job 3 Job 4
Machine 1 14 5 8 7
Machine 2 2 12 6 5
Machine 3 7 8 3 9
Machine 4 2 4 6 10
Hungarian Algorithm
Step 1: (a) Find the minimum element in each row of the cost matrix. Form a new matrix by subtracting this cost from each row. (b) Find the minimum cost in each column of the new matrix, and subtract this from each column. This is the reduced cost matrix.
Example: Step 1(a)Job 1 Job 2 Job 3 Job 4
Machine 1 14 5 8 7
Machine 2 2 12 6 5
Machine 3 7 8 3 9
Machine 4 2 4 6 10
Job 1 Job 2 Job 3 Job 4
Machine 1 9 0 3 2
Machine 2 0 10 4 3
Machine 3 4 5 0 6
Machine 4 0 2 4 8
Row Reduction
Example: Step 1(b)
Job 1 Job 2 Job 3 Job 4
Machine 1 9 0 3 0
Machine 2 0 10 4 1
Machine 3 4 5 0 4
Machine 4 0 2 4 6
Job 1 Job 2 Job 3 Job 4
Machine 1 9 0 3 2
Machine 2 0 10 4 3
Machine 3 4 5 0 6
Machine 4 0 2 4 8
Column Reduction
Hungarian Algorithm
Step 2: Draw the minimum number of lines that are needed to cover all the zeros in the reduced cost matrix. If m lines are required, then an optimal solution is available among the covered zeros in the matrix. Otherwise, continue to Step 3.
How do we find the minimum
number of lines?!
Example: Step 2
Job 1 Job 2 Job 3 Job 4
Machine 1 9 0 3 0
Machine 2 0 10 4 1
Machine 3 4 5 0 4
Machine 4 0 2 4 6
We need 3<4 lines, so continue to Step 3
Hungarian Algorithm
Step 3: Find the smallest nonzero element (say, k) in the reduced cost matrix that is uncovered by the lines. Subtract k from each uncovered element, and add k to each element that is covered by two lines. Return to Step 2.
Example: Step 3Job 1 Job 2 Job 3 Job 4
Machine 1 9 0 3 0
Machine 2 0 10 4 1
Machine 3 4 5 0 4
Machine 4 0 2 4 6
Job 1 Job 2 Job 3 Job 4
Machine 1 10 0 3 0
Machine 2 0 9 3 0
Machine 3 5 5 0 4
Machine 4 0 1 3 5
Example: Step 2 (again)
Job 1 Job 2 Job 3 Job 4
Machine 1 10 0 3 0
Machine 2 0 9 3 0
Machine 3 5 5 0 4
Machine 4 0 1 3 5
Need 4 lines, so we have the optimal assignment and we stop
Zero Assignment
Example: Final Solution
Job 1 Job 2 Job 3 Job 4
Machine 1 10 0 3 0
Machine 2 0 9 3 0
Machine 3 5 5 0 4
Machine 4 0 1 3 5
Optimal assignment
1,1,1,1 24413312 xxxx
How did we know which
0’s to choose?!
Munkres Contribution
Providing a constructive procedure for finding1) A minimal set of lines which contain all
zeros,2) A maximal set of independent zeros
“Starred zeros” and “Primed zeros” Alternating sequence between 0* and 0’
Resources (Thanks to Patrick Denis)
Mathworks central exchange (download code):
http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectIde43&objectType=file
Helpful websites http://en.wikipedia.org/wiki/Hungarian_algorithm http://www.public.iastate.edu/~ddoty/HungarianAlg
orithm.html http://
www.ifors.ms.unimelb.edu.au/tutorial/hungarian/index.html
References
http://www.skidmore.edu/~adean/MC3020409/Slides/MC302041019.ppt
http://www.math.ntu.edu.tw/~gjchang/courses/2002-09-graph-theory/Ch3 Matching and Factors.ppt
https://www.cse.yorku.ca/~jeff/courses/6111/syllabus/03.5-NetworkFlow.ppt