This note in the TeX user's group newsletter described a set of macros for drawing trees, using TeX's boxes-and-glue mechanisms to line up the nodes at each level of the tree.
We define a notion of geometric thickness, intermediate between the previously studied concepts of graph thickness and book thickness: a graph has geometric thickness T if its vertices can be embedded in the plane, and its edges partitioned into T subsets, so that each subset forms a planar straight line graph. We then give upper and lower bounds on the geometric thickness of complete graphs.
We give linear-time quasiconvex programming algorithms for finding a Möbius transformation of a set of spheres in a unit ball or on the surface of a unit sphere that maximizes the minimum size of a transformed sphere. We can also use similar methods to maximize the minimum distance among a set of pairs of input points. We apply these results to vertex separation and symmetry display in spherical graph drawing, viewpoint selection in hyperbolic browsing, and element size control in conformal structured mesh generation.
We show that geometric thickness and book thickness are not asymptotically equivalent: for every t, there exists a graph with geometric thickness two and book thickness > t.
We show that thickness and geometric thickness are not asymptotically equivalent: for every t, there exists a graph with thickness three and geometric thickness > t. The proof uses Ramsey-theoretic arguments similar to those in "Separating book thickness from thickness".
We describe a new method of drawing graphs, based on allowing the edges to be merged together and drawn as "tracks" (similar to train tracks). We present heuristics for finding such drawings based on my previous algorithms for finding maximal bipartite subgraphs, prove that several important families of graphs have confluent drawings, and provide examples of other graphs that can not be drawn in this way.
Defines quasiconvex programming, a form of generalized linear programming in which one seeks the point minimizing the pointwise maximum of a collection of quasiconvex functions. Surveys algorithms for solving quasiconvex programs either numerically or via generalizations of the dual simplex method from linear programming, and describe varied applications of this geometric optimization technique in meshing, scientific computation, information visualization, automated algorithm analysis, and robust statistics.
We consider problems of partitioning sets of geometric objects into two subsets, such that no two objects within the same subset intersect each other. Typically, such problems can be solved in quadratic time by constructing the intersection graph and then applying a graph bipartiteness testing algorithm; we achieve subquadratic times for general objects, and O(n log n) times for balls in R^d or simple polygons in the plane, by using geometric data structures, separator based divide and conquer, and plane sweep techniques, respectively. We also contrast the complexity of bipartiteness testing with that of connectivity testing, and provide evidence that for some classes of object, connectivity is strictly harder due to a computational equivalence with Euclidean minimum spanning trees.
We survey a number of open problems in theoretical and applied graph drawing.
We show that graphs with maximum degree four have geometric thickness at most two, by partitioning them into degree two subgraphs and applying simultaneous embedding techniques.
We describe two algorithms for finding planar layouts of partial cubes: one based on finding the minimum-dimension lattice embedding of the graph and then projecting the lattice onto the plane, and the other based on representing the graph as the planar dual to a weak pseudoline arrangement.
Due to editorial mishandling there will be no journal version of this paper: I submitted it to a journal in 2004, the reviews were supposedly sent back to me in 2005, but I didn't receive them and didn't respond to them, leading the editors to assume that I intended to withdraw the submission. Large portions of the paper have since been incorporated into my book Media Theory, making journal publication moot.
We characterize the graphs that can be drawn confluently with a single confluent track that is tree-like except for three-way Delta junctions, as being exactly the distance hereditary graphs. Based on this characterization, we develop efficient algorithms for drawing these graphs.
We study straight-line drawings of planar graphs with few segments and few slopes. Optimal results are obtained for all trees. Tight bounds are obtained for outerplanar graphs, 2-trees, and planar 3-trees. We prove that every 3-connected plane graph on n vertices has a plane drawing with at most 5n/2 segments and at most 2n slopes. We prove that every cubic 3-connected plane graph has a plane drawing with three slopes (and three bends on the outerface).
We consider graph drawing algorithms for learning spaces, a type of st-oriented partial cube derived from antimatroids and used to model states of knowledge of students. We show how to draw any st-planar learning space so all internal faces are convex quadrilaterals with the bottom side horizontal and the left side vertical, with one minimal and one maximal vertex. Conversely, every such drawing represents an $st$-planar learning space. We also describe connections between these graphs and arrangements of translates of a quadrant.
We consider drawings of trees which, if the leaf edges were extended to infinite rays, would form partitions of the plane into unbounded convex polygons. For such a drawing the edges may be chosen independently without any possibility of edge crossing. We show how to choose the angles of such drawings to optimize the angular resolution of the drawing.
We show how to choose colors for the vertices of a graph drawing in such a way that all colors are easily distinguishable, but such that adjacent vertices have especially dissimilar colors, by considering the problem as one of embedding the graph into a three-dimensional color space.
We show how to solve several versions of the problem of casing graph drawings: that is, given a drawing, choosing to draw one edge as upper and one lower at each crossing in order to improve the drawing's readability.
Defines a class of orthogonal graph drawings formed by a point set in three dimensions for which axis-parallel line contains zero or two vertices, with edges connecting pairs of points on each nonempty axis-parallel line. Shows that the existence of such a drawing can be defined topologically, in terms of certain two-dimensional surface embeddings of the same graph. Based on this equivalence, describes algorithms, graph-theoretic properties, and hardness results for graphs of this type.
Greedy drawing is an idea for encoding network routing tables into the geometric coordinates of an embedding of the network, but most previous work in this area has ignored the space complexity of these encoded tables. We refine a method of R. Kleinberg for embedding arbitrary graphs into the hyperbolic plane, which uses linearly many bits to represent each vertex, and show that only logarithmic bits per point are needed.
We describe polynomial time algorithms for determining whether an undirected graph may be embedded in a distance-preserving way into the hexagonal tiling of the plane, the diamond structure in three dimensions, or analogous structures in higher dimensions. The graphs that may be embedded in this way form an interesting subclass of the partial cubes.
We consider drawings of planar partial cubes in which all interior faces are centrally symmetric convex polygons, as in my previous paper Algorithms for Drawing Media. Among all drawings of this type, we show how to find the one with optimal angular resolution. The solution involves a transformation from the problem into the parametric negative cycle detection problem: given a graph in which the edge weights are linear functions of a parameter λ, find the minimum value of λ for which the graph contains no negative cycles.
We provide a graph-theoretic characterization of three classes of nonconvex polyhedra with axis-parallel sides, analogous to Steinitz's theorem characterizing the graphs of convex polyhedra.
The journal version has the slightly different title "Steinitz theorems for simple orthogonal polyhedra".
Tutte's method of spring embeddings allows any triangulated planar graph to be drawn so that the outer face has any pre-specified convex shape, but it may place vertices exponentially close to each other. Alternative graph drawing methods provide polynomial-area straight line drawings but do not allow the outer face shape to be specified. We describe a drawing method that combines both properties: it has polynomial area, and can match any pre-specified shape of the outer face, even a shape in which some of the vertices have 180 degree angles. We apply our results to drawing polygonal schemas for graphs embedded on surfaces of positive genus.
In honor of artist Mark Lombardi, we define a Lombardi drawing to be a drawing of a graph in which the edges are drawn as circular arcs and at each vertex they are equally spaced around the vertex so as to achieve the best possible angular resolution. We describe algorithms for constructing Lombardi drawings of regular graphs, 2-degenerate graphs, graphs with rotational symmetry, and several types of planar graphs. A program for the rotationally symmetric case, the Lombardi Spirograph, is available online.
We consider balloon drawings of trees, in which each subtree of the root is drawn recursively within a disk, and these disks are arranged radially around the root, with the edges at each node spaced equally around the node so as to achieve the best possible angular resolution. If we are allowed to permute the children of each node, then we show that a drawing of this type can be made in which all edges are straight line segments and the area of the drawing is a polynomial multiple of the shortest edge length. However, if the child ordering is prescribed, exponential area might be necessary. We show that, if we relax the requirement of straight line edges and draw the edges as circular arcs (a style we call Lombardi drawing) then even with a prescribed child ordering we can achieve polynomial area.
We show how to draw any graph of maximum degree three in three dimensions with 120 degree angles at each vertex or bend, and any graph of maximum degree four in three dimensions with the angles of the diamond lattice at each vertex or bend. In each case there are no crossings and the number of bends per edge is a small constant.
We show that a partial order has a non-crossing upward planar drawing if and only if it has order dimension two, and we use the Dedekind-MacNeille completion to find a drawing with the minimum possible number of confluent junctions.
We show that, for several variants of the problem of compacting a grid drawing of a graph to use the minimum number of rows or minimum area, no good approximation algorithm is possible. We also develop fixed-parameter tractable algorithms and approximation algorithms showing that some of our inapproximability bounds are tight. See the journal version, "Inapproximability of orthogonal compaction", for some improvements and corrections.
We extend Lombardi drawing (in which each edge is a circular arc and the edges incident to a vertex must be equally spaced around it) to drawings in which edges are composed of multiple arcs, and we investigate the graphs that can be drawn in this more relaxed framework.
This is the journal version of "Hardness of approximate compaction for nonplanar orthogonal graph drawings". It has stronger inapproximability bounds, and more variations of the compaction problem that are hard to approximate. In addition it includes a retraction of a buggy approximation algorithm from the conference version.
This talk and journal paper combines the results from "Planar Lombardi drawings for subcubic graphs" and "The graphs of planar soap bubbles". It uses three-dimensional hyperbolic geometry to define a partition of the plane into cells with circular-arc boundaries, given an input consisting of (possibly overlapping) circular disks and disk complements, which remains invariant under Möbius transformations of the input. We use this construction as a tool to construct planar Lombardi drawings of all 3-regular planar graphs; these are graph drawings in which the edges are represented by circular arcs meeting at equal angles at each vertex. We also use it to characterize the graphs of two-dimensional soap bubble clusters as being exactly the 2-vertex-connected 3-regular planar graphs.
We show that every planar graph of maximum degree three has a planar Lombardi drawing and that some but not all 4-regular planar graphs have planar Lombardi drawings. The proof idea combines circle packings with a form of Möbius-invariant power diagram for circles, defined using three-dimensional hyperbolic geometry.
For the journal version, see "A Möbius-invariant power diagram and its applications to soap bubbles and planar lombardi drawing.".
We extend force-directed methods of graph drawing by adding a force that pulls vertices towards the center of the drawing, with a strength proportional to the centrality of the vertex. Gradually scaling up this force helps avoid the tangling that would otherwise result from its use.
A graph is 1-planar if it can be drawn in the plane with at most one crossing per edge, and maximal 1-planar if it is 1-planar but adding any edge would force more than one crossing on some edge or edges. Although maximal 1-planar graphs on n vertices may have as many as 4n − 8 edges, we show that there exist maximal 1-planar graphs with as few as 45n/17 + O(1) edges.
We characterize the graphs of two-dimensional soap bubble clusters as being exactly the bridgeless 3-regular planar graphs. The proof uses the Möbius invariance of the properties characterizing these clusters together with our previous circle packing method for constructing Lombardi drawings of graphs.
For the journal version, see "A Möbius-invariant power diagram and its applications to soap bubbles and planar lombardi drawing.".
We show that testing whether a graph is 1-planar (drawable with at most one crossing per edge) may be performed in polynomial and fixed-parameter tractable time for graphs of bounded circuit rank, vertex cover number, or tree-depth. However, it is NP-complete for graphs of bounded treewidth, pathwidth, or bandwidth.
For every positive integer n, there exists a set of n points on a parabola, with the property that every n-vertex planar graph can be drawn without crossings with its vertices at these points and with its edges drawn as circular arcs.
Many real-world graphs are k-almost-trees for small values of k: graphs in which, in every biconnected component, removing a spanning tree leaves at most k edges. We use kernelization methods to show that in such graphs, the 1-page and 2-page crossing numbers can be computed quickly.
A superpattern of a set of permutations is a permutation that contains as a pattern every permutation in the set. Previously superpatterns had been considered for all permutations of a given length; we generalize this to sets of permutations defined by forbidden patterns; we show that the 213-avoiding permutations have superpatterns half the length of the known bound for all permutations, and that any proper permutation subclass of the 213-avoiding permutations has near-linear superpatterns. We apply these results to the construction of universal point sets, sets of points that can be used as the vertices of drawings of all n-vertex planar graphs. We use our 213-avoiding superpatterns to construct universal sets of size approximately n2/4, and we also construct near-linear universal sets for graphs of bounded pathwidth.
The planarity game involves rearranging a scrambled line arrangement graph to make it planar. We show that the resulting graphs have drawings in grids of area n7/6, much smaller than the quadratic size bound for grid drawings of planar graphs, and we provide a strategy for planarizing these graphs that is simple enough for human puzzle solving.
A confluent drawing of a graph is a set of points and curves in the plane with the property that two vertices are adjacent in the graph if and only if the corresponding points can be connected to each other by smooth paths in the drawing. We define a variant of confluent drawing, strict confluent drawing, in which a smooth path between two vertices (if it exists) must be unique. We show that it is NP-complete to test whether such drawings exist, in contrast to unrestricted confluence for which the complexity remains open. Additionally, we show that finding outerplanar drawings (in which the points are on the boundary of a disk and the curves are interior to it) with a fixed cyclic vertex ordering can be performed in polynomial time. We use circle packings to find nice versions of these drawings in which all tracks are represented by piecewise-circular curves.
We show that every outerplanar weak pseudoline arrangement (a collection of curves topologically equivalent to lines, each crossing at most once but possibly zero times, with all crossings belonging to an infinite face) can be straightened to a hyperbolic line arrangement. As a consequence such an arrangement can also be drawn in the Euclidean plane with each pseudoline represented as a convex piecewise-linear curve with at most two bends. In contrast, for arbitrary pseudoline arrangements, a linear number of bends is sufficient and sometimes necessary.
We construct small universal point sets for dominance drawings of classes of acyclic graphs, by finding forbidden patterns in the permutations determined by these drawings and proving the existence of small superpatterns for the permutations with these patterns forbidden. In particular, dominance drawings of the Hasse diagrams of width-2 partial orders have universal point sets of size O(n3/2), derived from superpatterns of the same size for the 321-avoiding permutations, and dominance drawings of st-planar graphs have universal point sets of size O(n log n), derived from superpatterns for riffle shuffles.
We investigate the number of vertices that must be deleted from an arbitrary graph, in the worst case as a function of the number of edges, in order to planarize the remaining graph. We show that m/5.22 vertices are sufficient and m/(6 − o(1)) are necessary, and we also give bounds for the number of deletions needed to achieve certain subclasses of planar graphs.
We show that many standard graph drawing methods have algebraic solutions described by polynomials that can have unsolvable Galois groups, and that can have Galois groups whose order is divisible by large prime numbers. As a consequence certain models of exact algebraic computation are unable to construct these drawings.
We show how to express in monadic second-order logic the problems of drawing a graph with a fixed number of crossings on a one or two page book layout. By applying Courcelle's theorem, we obtain fixed-parameter tractable algorithms for these problems, parameterized by treewidth.
The balanced circle packings of the title are systems of interior-disjoint circles, whose tangencies represent the given graph, and whose radii are all within a polynomial factor of each other. We show that these packings always exist for trees, cactus graphs, outerpaths, k-outerplanar graphs of bounded degree when k is at most logarithmic, and planar graphs of bounded treedepth. The treedepth result uses a new construction of inversive-distance circle packings.
Given a plane graph with fixed edge lengths, and an assignment of the angles 0, 180, and 360 to the angles between adjacent edges, we show how to test whether the angle assignment can be realized by an embedding of the graph as a flat folding on a line. As a consequence, we can determine whether two-dimensional cell complexes with one vertex can be flattened. The main idea behind the result is to show that each face of the graph can be folded independently of the other faces.
We study the graphs formed by non-crossing circular arcs in the plane, having a vertex for each arc and an edge for each point where an arc endpoint touches the interior of another arc.
The Graph Drawing version used the alternative title "Genus, treewidth, and local crossing number". We prove tight bounds on the treewidth of graphs embedded on low-genus surfaces with few crossings per edge, and nearly tight bounds on the number of crossings per edge for graphs with a given number of edges embedded on low-genus surfaces.
We introduce the concept of a layered path decomposition, and show that the layered pathwidth can be used to characterize the leveled planar graphs. As a consequence we show that finding the minimum number of tracks in a track layout of a given graph is NP-complete. The GD version includes only the parts concerning track layout, and uses the title "Track Layout is Hard".
We describe a system for transforming context-free grammars into human-readable syntax diagrams, including optimizations that change the structure of the grammar to make it more readable without affecting the language described by the grammar.
We describe a class of polytopes of varying dimensions, whose restriction to three dimensions is the class of roofless polyhedra (Halin graphs). We call these polytopes treetopes. We show that the four-dimensional treetopes are closely related to clustered planar graph drawings, and we use this connection to recognize the graphs of four-dimensional treetopes in polynomial time.
A penny graph is the contact graph of unit disks: each disk represents a vertex of the graph, no two disks can overlap, and each tangency between two disks represents an edge in the graph. We prove that, when this graph is triangle free, its degeneracy is at most two. As a consequence, triangle-free penny graphs have list chromatic number at most three. We also show that the number of edges in any such graph is at most 2n − Ω(√n). The journal version uses the alternative title "Edge Bounds and Degeneracy of Triangle-Free Penny Graphs and Squaregraphs".
We study what happens to nonplanar graphs of low width (for various width measures) when they are made planar by replacing crossings by vertices. For treewidth, pathwidth, branchwidth, clique-width, and tree-depth, this replacement can blow up the width from constant to linear. However, for bandwidth, cutwidth, and carving width, graphs of bounded width stay bounded when we planarize them.
We show that the K1,1,3-free partial 2-trees and the Halin graphs other than K4 can all be represented as proper contact graphs of squares in the plane. Among partial 2-trees and Halin graphs, these are exactly the ones that can be embedded without nonempty triangles, which form an obstacle to the existence of square contact representations. However the graph of a square antiprism has no such representation despite being embeddable without any nonempty triangles.
Clustered planarity is the problem of simultaneously drawing a planar graph and a clustering of its vertices (as Jordan curves surrounding the cluster) with no unnecessary crossings between edges or cluster boundaries; it remains unknown whether it can be solved in polynomial time. We provide parameterized and subexponential exact algorithms for the case where the planar embedding is fixed and the clusters form a partition of the vertices.
If you fold a piece of paper flat and unfold it again, the resulting crease pattern forms a planar graph. We prove that a tree can be realized in this way (with its leaves as diverging rays that reach the boundary of the paper) if and only if all internal vertices have odd degree greater than two. On the other hand, for a folding pattern on an infinite sheet of paper with an added vertex at infinity as the endpoint of all its rays, the resulting graph must be 2-vertex-connected and 4-edge-connected.
We construct planar graphs whose straight drawings require a large number of lines (at least the cube root of the number of vertices) to cover all vertices. We also find series-parallel graphs and apex-trees that require a non-constant number of lines.
Not every bipartite planar graph has a planar Lombardi drawing. Not every plane series parallel graph has a planar Lombardi drawing with the same embedding. The proof involves the properties of cycles of circular-arc-quadrilaterals all sharing the same two vertices, with equal and sharp vertex angles.
Publications – David Eppstein – Theory Group – Inf. & Comp. Sci. – UC Irvine
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