diff --git a/alib2graph_algo/src/shortest_path/BellmanFord.cpp b/alib2graph_algo/src/shortest_path/BellmanFord.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..db06141651645721567cb4b5ccdf0eee557d34eb
--- /dev/null
+++ b/alib2graph_algo/src/shortest_path/BellmanFord.cpp
@@ -0,0 +1,67 @@
+// BellmanFord.cpp
+//
+// Created on: 05. 02. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "BellmanFord.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+
+namespace {
+
+auto BellmanFord1 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedUndirectedGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFord2 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedUndirectedMultiGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFord3 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedDirectedGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFord4 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedDirectedMultiGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFord5 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedMixedGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFord6 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultNodeType>, DefaultWeightType>,
+ const graph::WeightedMixedMultiGraph<> &,
+ const DefaultNodeType &,
+ const DefaultNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFordGrid1 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultSquareGridNodeType>,
+ DefaultWeightType>,
+ const grid::WeightedSquareGrid4<> &,
+ const DefaultSquareGridNodeType &,
+ const DefaultSquareGridNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+auto BellmanFordGrid2 = registration::AbstractRegister<shortest_path::BellmanFord,
+ ext::pair<ext::vector<DefaultSquareGridNodeType>,
+ DefaultWeightType>,
+ const grid::WeightedSquareGrid8<> &,
+ const DefaultSquareGridNodeType &,
+ const DefaultSquareGridNodeType &>(shortest_path::BellmanFord::findPathRegistration);
+
+}
+
diff --git a/alib2graph_algo/src/shortest_path/BellmanFord.hpp b/alib2graph_algo/src/shortest_path/BellmanFord.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d2d6c265a849b4b2b8a63cef8ab2a00ef166fb9f
--- /dev/null
+++ b/alib2graph_algo/src/shortest_path/BellmanFord.hpp
@@ -0,0 +1,261 @@
+// BellmanFord.hpp
+//
+// Created on: 05. 02. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_BELLMANFORD_HPP
+#define ALIB2_BELLMANFORD_HPP
+
+#include <alib/list>
+#include <alib/set>
+#include <alib/map>
+#include <alib/vector>
+#include <queue>
+#include <stdexcept>
+#include <functional>
+
+#include <common/ReconstructPath.hpp>
+#include <common/SupportFunction.hpp>
+
+namespace shortest_path {
+
+class BellmanFord {
+// ---------------------------------------------------------------------------------------------------------------------
+ public:
+
+ /// Run BellmanFord algorithm from the \p start node in the \p graph.
+ ///
+ /// Whenever node is opened, \p f_user is called with two parameters (the opened node and value of currently shortest path).
+ ///
+ /// \param graph to explore.
+ /// \param start initial node.
+ /// \param f_user function which is called for every opened node with value of currently shortest path.
+ ///
+ /// \note TEdge of \p graph must follow graph::edge::WeightedEdge interface.
+ /// \sa graph::edge_type::WeightedEdge.
+ ///
+ /// \throws std::out_of_range if \p graph contains negative cycle.
+ ///
+ template<
+ typename TGraph,
+ typename TNode,
+ typename F = std::function<void(const TNode &,
+ const typename TGraph::edge_type::weight_type &)> >
+ static
+ void
+ run(const TGraph &graph,
+ const TNode &start,
+ F f_user = [](const TNode &,
+ const typename TGraph::edge_type::weight_type &) -> void {});
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+ /// Find the shortest path using BellmanFord algorithm from the \p start node to the \p goal node in the \p graph.
+ ///
+ /// Whenever node is opened, \p f_user is called with two parameters (the opened node and value of currently shortest path).
+ ///
+ /// \param graph to explore.
+ /// \param start initial node.
+ /// \param goal final node.
+ /// \param f_user function which is called for every open node with value of currently shortest path.
+ ///
+ /// \returns pair where first := shortest path := distance of path, if there is no such path vector is empty and distance std::numeric_limits<edge_type:weight_type>::max().
+ ///
+ /// \note TEdge of \p graph must follow graph::edge::WeightedEdge interface.
+ /// \sa graph::edge_type::WeightedEdge.
+ ///
+ /// \throws std::out_of_range if \p graph contains negative cycle.
+ ///
+ template<typename TGraph, typename TNode, typename F = std::function<void(const TNode &,
+ const typename TGraph::edge_type::weight_type &)>>
+ static
+ ext::pair<ext::vector<TNode>, typename TGraph::edge_type::weight_type>
+ findPath(const TGraph &graph,
+ const TNode &start,
+ const TNode &goal,
+ F f_user = [](const TNode &,
+ const typename TGraph::edge_type::weight_type &) {});
+
+ template<typename TGraph, typename TNode>
+ static
+ ext::pair<ext::vector<TNode>, typename TGraph::edge_type::weight_type>
+ findPathRegistration(const TGraph &graph,
+ const TNode &start,
+ const TNode &goal) {
+ return findPath(graph, start, goal);
+ }
+
+// =====================================================================================================================
+ private:
+
+ template<typename TNode, typename TWeight>
+ struct Data {
+ ext::map<TNode, TWeight> g; // distance (aka G score)
+ ext::map<TNode, TNode> p; // parents
+ ext::set<TNode> state1; // optimization Yen
+ ext::set<TNode> state2; // optimization Yen
+ };
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+ template<typename TGraph, typename TNode, typename F>
+ static
+ Data<TNode, typename TGraph::edge_type::weight_type>
+ impl(const TGraph &graph,
+ const TNode &start,
+ F f_user);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+ template<typename TGraph, typename TNode, typename F>
+ static
+ void
+ relaxation(const TGraph &graph,
+ ext::set<TNode> &nodes,
+ BellmanFord::Data<TNode, typename TGraph::edge_type::weight_type> &data,
+ ext::set<TNode> &state1,
+ ext::set<TNode> &state2,
+ F f_user);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+ template<typename TNode, typename TWeight>
+ inline static void init(BellmanFord::Data<TNode, TWeight> &data, const TNode &start);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TGraph, typename TNode, typename F>
+void BellmanFord::run(const TGraph &graph, const TNode &start, F f_user) {
+ impl(graph, start, f_user);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TGraph, typename TNode, typename F>
+ext::pair<ext::vector<TNode>, typename TGraph::edge_type::weight_type>
+BellmanFord::findPath(const TGraph &graph,
+ const TNode &start,
+ const TNode &goal,
+ F f_user) {
+ using weight_type = typename TGraph::edge_type::weight_type;
+
+ Data<TNode, weight_type> data = impl(graph, start, f_user);
+
+ if (data.g.find(goal) == data.g.end()) {
+ return ext::make_pair(ext::vector<TNode>(), std::numeric_limits<weight_type>::max());
+ }
+
+ return ext::make_pair(common::ReconstructPath::reconstructPath(data.p, start, goal), data.g[goal]);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TGraph, typename TNode, typename F>
+BellmanFord::Data<TNode, typename TGraph::edge_type::weight_type>
+BellmanFord::impl(const TGraph &graph, const TNode &start, F f_user) {
+
+ using weight_type = typename TGraph::edge_type::weight_type;
+
+ Data<TNode, weight_type> data;
+
+ // Init data
+ init(data, start);
+
+ // Run user's function
+ f_user(start, 0);
+
+ auto nodes = graph.getNodes();
+ size_t nodes_cnt = nodes.size();
+
+ for (size_t i = 1; i < nodes_cnt; ++i) {
+ if (i % 2 == 1) {
+ data.state2.clear();
+ relaxation(graph, nodes, data, data.state1, data.state2, f_user);
+ } else {
+ data.state1.clear();
+ relaxation(graph, nodes, data, data.state2, data.state1, f_user);
+ }
+
+ if (((i % 2 == 1) && data.state2.empty()) ||
+ ((i % 2 == 0) && data.state1.empty()))
+ break; // Optimization early stop
+ }
+
+ for (const auto &n: nodes) {
+ for (const auto &s_edge: graph.successorEdges(n)) {
+ const TNode &s = common::SupportFunction::other(s_edge, n); // successor
+
+ auto search = data.g.find(s);
+
+ if (search != data.g.end() && data.g.at(n) + s_edge.weight() < data.g.at(s)) {
+ throw std::out_of_range("BellmanFord: Detected negative weight cycle.");
+ }
+ }
+ }
+
+ return data;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TGraph, typename TNode, typename F>
+void BellmanFord::relaxation(const TGraph &graph,
+ ext::set<TNode> &nodes,
+ BellmanFord::Data<TNode, typename TGraph::edge_type::weight_type> &data,
+ ext::set<TNode> &state1,
+ ext::set<TNode> &state2,
+ F f_user) {
+ using weight_type = typename TGraph::edge_type::weight_type;
+
+ for (const auto &n: nodes) {
+
+ if (state1.find(n) == state1.end()) {
+ continue;
+ }
+
+ for (const auto &s_edge: graph.successorEdges(n)) {
+ const TNode &s = common::SupportFunction::other(s_edge, n); // successor
+
+ auto search = data.g.find(s);
+
+ // Relaxation
+ if (search == data.g.end() || data.g.at(n) + s_edge.weight() < data.g.at(s)) {
+ weight_type gscore = data.g.at(n) + s_edge.weight();
+
+ // Run user's function
+ f_user(s, gscore);
+
+ data.g[s] = gscore;
+ data.p.insert_or_assign(s, n);
+
+ state1.insert(s); // Yen optimization
+ state2.insert(s); // Yen optimization
+ }
+ }
+ }
+
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TNode, typename TWeight>
+void BellmanFord::init(BellmanFord::Data<TNode, TWeight> &data, const TNode &start) {
+ data.g[start] = 0;
+ data.p.insert(std::make_pair(start, start));
+ data.state1.insert(start);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+// =====================================================================================================================
+
+} // namespace shortest_path
+#endif //ALIB2_BELLMANFORD_HPP