COT5310: Formal Languages and Automata Theory Lecture Notes #3: Complexity Dr. Ferucio Laurent¸iu T¸iplea Visiting Professor School of Computer Science University of Central Florida Orlando, FL 32816 E-mail: [email protected] http://www.cs.ucf.edu/~tiplea Complexity 1. Time and space bounded computations 2. Central complexity classes 3. Reductions and completeness 4. Hierarchies of complexity classes UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 1 1. Time and space bounded computations 1.1. Orders of magnitude 1.2. Running time and work space of Turing machines UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 2 1.1. Orders of magnitude Let g : N R be a function. Define the following sets: → + (g) = f : N R+ ( c R )( n0 N)( n n0)(f(n) cg(n)) O { → | ∃ ∈ +∗ ∃ ∈ ∀ ≥ ≤ } Ω(g) = f : N R+ ( c R )( n0 N)( n n0)(cg(n) f(n)) { → | ∃ ∈ +∗ ∃ ∈ ∀ ≥ ≤ } Θ(g) = f : N R+ ( c1, c2 R )( n0 N)( n n0) { → | ∃ ∈ +∗ ∃ ∈ ∀ ≥ (c1g(n) f(n) c2g(n)) ≤ ≤ } o(g) = f : N R+ ( c R )( n0 N)( n n0)(f(n) cg(n)) { → | ∀ ∈ +∗ ∃ ∈ ∀ ≥ ≤ } Let f, g : N R and X , Ω, Θ,o . f is said to be X of → + ∈ {O } g, denoted f(n) = X(g(n)), if f X(g). ∈ (“big O”), Ω (“big Ω”), Θ (“big Θ”), and o (“little o”) O are order of magnitude symbols. UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 3 1.1. Orders of magnitude cg(n)2 cg(n) f(n) f(n) f(n) cg(n) cg(n)1 n n0 n0 0 O (g(n)) W(g(n)) q(g(n)) f(n) = (g(n)) • O – g(n) is an asymptotic upper bound for f(n) – f(n) is no more than g(n) – used to state the complexity of a worst case analysis; f(n) = Ω(g(n)) – similar interpretation; • f(n) = o(g(n)) – f(n) is less than g(n) (the difference • between and o is analogous to the difference between O and <). ≤ UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 4 1.1. Orders of magnitude Proposition 1 Let f,g,h,k : N R . Then: → + (1) f(n) = (f(n)); O (2) if f(n) = (g(n)) and g(n) = (h(n)), then f(n) = O O (h(n)); O (3) f(n) = (g(n)) iff g(n) = Ω(f(n)); O (4) f(n) = Θ(g(n)) iff f(n) = (g(n)) and f(n) = Ω(g(n)); O (5) if f(n) = (h(n)) and g(n) = (k(n)), then (f g)(n) = O O · (h(n)k(n)) and (f + g)(n) = (max h(n), k(n) ); O O { } (6) if there exists n0 N such that g(n) = 0 for any n n0, ∈ f(n) 6 ≥ then f(n) = o(g(n)) iff limn = 0. →∞ g(n) UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 5 1.1. Orders of magnitude Some useful inequalities: (Stirling’s formula) • n n 1 n n 1 √2πn e12n+1 n! √2πn e12n, e ≤ ≤ e for any n 1; ≥ for any real constants ǫ and c such that 0 < ǫ < 1 < c, • n 1 <lnlnn<lnn<e√(ln n)(lnlnn) <nǫ <nc <nlnn < cn <nn < cc (each inequality holds for all n n , where n is suitable ≥ 0 0 chosen). UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 6 1.1. Orders of magnitude Example 1 1. if f(x) = a + a x + + a xk is a polynomial of degree 0 1 · · · k k with real coefficients and f(x) 0 for any x N, then ≥ ∈ f(n) = Θ(nk); 2. logc n = Θ(log n), for any real constant c > 1; 3. log n = (nǫ), for any real number ǫ such that 0 < ǫ < 1; O 4. logk n = (n), for any natural number k 1; O ≥ 5. n! = Ω(2n) and n! = o(nn); 6. log(n!) = Θ(nlog n). UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 7 1.1. Orders of magnitude Example 2 If f : N R satisfies f(n) 1 for any n n → + ≥ ≥ 0 and some n N, then: 0 ∈ 1. 12 log2 f(n) f(n) 2 log2 f(n) , for any n n ; 2 ⌈ ⌉ ≤ ≤ ⌈ ⌉ ≥ 0 log f(n) 2. f(n) = Θ(2⌈ 2 ⌉). Remark 1 4n = (2n). 6 O UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 8 1.1. Orders of magnitude Let and be sets of functions as those defined above (e.g., A B (g) etc.), and let f : N R . Then, we denote O → + 1. f + = f + g g ; A { | ∈ A} 2. + = f + g f , g ; A B { | ∈A ∈ B} 3. f = f g g . If f is the constant c function, then A { · | ∈ A} we will write c instead of f ; A A 4. = fg f , g ; AB { | ∈A ∈ B} 5. ( ) = f (f). O A S ∈A O UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 9 1.1. Orders of magnitude Convention: = stands for . A B A⊆B Proposition 2 Let f, g : R R and c R . Then: + + ∈ + (1) (f(n)) + (g(n)) = (f(n) + g(n)); O O O (2) c (f(n)) = (f(n)); O O (3) ( (f(n))) = (f(n)); O O O (4) (f(n)) (g(n)) = (f(n)g(n)); O O O (5) (f(n)g(n)) = f(n) (g(n)). O O UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 10 1.2. Running time and workspace of TMs Notsemi-decidable Undecidable Semi-decidable butnotdecidable } Decidable Classifythemintocomplexityclasses } Decidable problems are classified into complexity classes ac- cording to the amount of work (time, space etc.) needed to solve them. UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 11 1.2. Running time and work space of TMs Let M be a deterministic TM (DTM) that halts on all inputs, and let w be an input. 1. The computation time of M on w is the number of steps required by M to halt on w (regardless of whether M accepts or not w); 2. The running time or time complexity of M is the function timeM given by: time (n) is the maximum computation time of M on • M inputs of length n, for any n 0. ≥ Assumption: time (n) n, for any n (M needs at least n M ≥ steps to read the entire input). UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 12 1.2. Running time and work space of TMs Let M be a non-deterministic TM (NTM) wherein all com- putations halt on all words, and let w be an input. 1. The computation time of M on w is the maximum number of steps required by M to halt on w (regardless of whether or not M accepts w); 2. The running time ot time complexity of M is the function timeM given by: time (n) is the maximum computation time of M on • M inputs of length n, for any n 0. ≥ Assumption: time (n) n, for any n. M ≥ UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 13 1.2. Running time and work space of TMs Allwordsoflengthn Allwordsoflengthn Discretetime 1 Discretetime 1 accept reject reject 2 2 reject reject 3 reject 3 accept reject accept ... ... f(n) reject f(n) accept DTM:computationthreads NTM:computationtrees Measuring deterministic and non-deterministic running time. UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 14 1.2. Running time and work space of TMs Let f : N N. We say that a language L is accepted by a → DTM (NTM) M within time f(n) if M accepts L and the running time of M is at most f(n) for every n. Remark 2 The above concepts can be generalized to multiple- tape TM (mTM) as well. UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 15 1.2. Running time and work space of TMs Theorem 1 (Reduction in the number of tapes) If L is accepted by an mDTN within time f(n) and f(n) n ≥ for any n, then L is accepted by a DTM within time (f 2(n)). O Proof Given an mDTN M, construct a DTM M′ as follows. M′ stores the contents of M’s tapes on its single tape and uses a new symbol # to separate them. In addition, M′ keeps track of the locations of M’s heads by marking the corresponding cells on its tape. To simulate a single move of M, M′ scans its tape from left to right, records the marked symbols, and then makes a pass from right to left in order to update the tapes according to M’s transition relation. UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 16 1.2. Running time and work space of TMs The total time to simulate one step of M is (f(n)). The O initial stage (where M′ puts its tape into the proper format) requires (n) steps. Afterward, M simulates each of the O ′ steps of M using (f(n))) steps. Therefore, the entire sim- O ulation uses (n) + (f 2(n)) steps. As f(n) n + 1, we O O ≥ conclude that M ’s running time is (f 2(n)). 2 ′ O UCF-SCS/COT5310/Fall 2005/F.L. Tiplea 17 1.2. Running time and work space of TMs Theorem 2 If L is accepted by an NTN within time f(n) and f(n) n for any n, then L is accepted by a DTM within (f≥(n)) time 2O . Proof Given an NTM M, construct a 3-tape DTM M′ which tries all possible branches of M’s non-deterministic compu- tation.