The Topology of Bendless Three-Dimensional Orthogonal Graph Drawing
David Eppstein
备注：
23 pages, 16 figures. A much shorter version of this paper will appear at Graph Drawing 2008. This version incorporates feedback from the GD reviewers and new material on covering maps
发表信息：
J. Graph Algorithms & Applications 17(1): 35-55, 2013
We consider embeddings of 3-regular graphs into 3-dimensional Cartesian coordinates, in such a way that two vertices are adjacent if and only if two of their three coordinates are equal (that is, if they lie on an axis-parallel line) and such that no three points lie on the same axis-parallel line; we call a graph with such an embedding an xyz graph}. We describe a correspondence between xyz graphs and face-colored embeddings of the graph onto two-dimensional manifolds, and we relate bipartiteness of the xyz graph to orientability of the underlying topological surface. Using this correspondence, we show that planar graphs are xyz graphs if and only if they are bipartite, cubic, and three-connected, and that it is NP-complete to determine whether an arbitrary graph is an xyz graph. We also describe an algorithm with running time O(n 2^{n/2}) for testing whether a given graph is an xyz graph.
It is well-known that every graph with maximum degree 4 has an orthogonal drawing with area at most $\frac{49}{64} n^2+O(n) \approx 0.76n^2$. In this paper, we show that if the graph is 3-connected, then the area can be reduced even further to $\frac{9}{16}n^2+O(n) \approx 0.56n^2$. The drawing uses the 3-canonical order for (not necessarily planar) 3-connected graphs, which is a special Mondshein sequence and can hence be computed in linear time. To our knowledge, this is the first application of a Mondshein sequence in graph drawing.
In this paper, we study the area requirements of planar straight-line orthogonal drawings of ternary trees. We prove that every ternary tree admits such a drawing in sub-quadratic area. Further, we present upper bounds, the outcomes of an experimental evaluation, and a conjecture on the area requirements of planar straight-line orthogonal drawings of complete ternary trees. Finally, we present a polynomial lower bound on the length of the minimum side of any planar straight-line orthogonal drawing of a complete ternary tree.
Van Goethem and Verbeek recently showed how to morph between two planar orthogonal drawings $Γ_I$ and $Γ_O$ of a connected graph $G$ while preserving planarity, orthogonality, and the complexity of the drawing during the morph. Necessarily drawings $Γ_I$ and $Γ_O$ must be equivalent, that is, there exists a homeomorphism of the plane that transforms $Γ_I$ into $Γ_O$. Van Goethem and Verbeek use $O(n)$ linear morphs, where $n$ is the maximum complexity of the input drawings. However, if the graph is disconnected their method requires $O(n^{1.5})$ linear morphs. In this paper we present a refine…
We study the planar orthogonal drawing style within the framework of partial representation extension. Let $(G,H,Γ_H )$ be a partial orthogonal drawing, i.e., G is a graph, $H\subseteq G$ is a subgraph and $Γ_H$ is a planar orthogonal drawing of H. We show that the existence of an orthogonal drawing $Γ_G$ of $G$ that extends $Γ_H$ can be tested in linear time. If such a drawing exists, then there also is one that uses $O(|V(H)|)$ bends per edge. On the other hand, we show that it is NP-complete to find an extension that minimizes the number of bends or has a fixed number of bends per edge.
We describe an algorithm that morphs between two planar orthogonal drawings $Γ_I$ and $Γ_O$ of a connected graph $G$, while preserving planarity and orthogonality. Necessarily $Γ_I$ and $Γ_O$ share the same combinatorial embedding. Our morph uses a linear number of linear morphs (linear interpolations between two drawings) and preserves linear complexity throughout the process, thereby answering an open question from Biedl et al. Our algorithm first unifies the two drawings to ensure an equal number of (virtual) bends on each edge. We then interpret bends as vertices which form obstacles for s…
A planar orthogonal drawing of a planar 4-graph G (i.e., a planar graph with vertex-degree at most four) is a crossing-free drawing that maps each vertex of G to a distinct point of the plane and each edge of $G$ to a sequence of horizontal and vertical segments between its end-points. A longstanding open question in Graph Drawing, dating back over 30 years, is whether there exists a linear-time algorithm to compute an orthogonal drawing of a plane 4-graph with the minimum number of bends. The term "plane" indicates that the input graph comes together with a planar embedding, which must be pre…
Charles University（查理大学）；Università degli Studi di Perugia（佩鲁贾大学）；University of Warsaw（华沙大学）；Universität Passau（帕绍大学）；Czech Technical University in Prague（捷克理工大学）；Universität Würzburg（维尔茨堡大学）；Technische Universität München（慕尼黑工业大学）
A strict orthogonal drawing of a graph $G=(V, E)$ in $\mathbb{R}^2$ is a drawing of $G$ such that each vertex is mapped to a distinct point and each edge is mapped to a horizontal or vertical line segment. A graph $G$ is $HV$-restricted if each of its edges is assigned a horizontal or vertical orientation. A strict orthogonal drawing of an $HV$-restricted graph $G$ is good if it is planar and respects the edge orientations of $G$. In this paper, we give a polynomial-time algorithm to check whether a given $HV$-restricted plane graph (i.e., a planar graph with a fixed combinatorial embedding) a…
In \emph{smooth orthogonal layouts} of planar graphs, every edge is an alternating sequence of axis-aligned segments and circular arcs with common axis-aligned tangents. In this paper, we study the problem of finding smooth orthogonal layouts of low \emph{edge complexity}, that is, with few segments per edge. We say that a graph has \emph{smooth complexity} k---for short, an SC_k-layout---if it admits a smooth orthogonal drawing of edge complexity at most $k$. Our main result is that every 4-planar graph has an SC_2-layout. While our drawings may have super-polynomial area, we show that, for 3…
In a planar confluent orthogonal drawing (PCOD) of a directed graph (digraph) vertices are drawn as points in the plane and edges as orthogonal polylines starting with a vertical segment and ending with a horizontal segment. Edges may overlap in their first or last segment, but must not intersect otherwise. PCODs can be seen as a directed variant of Kandinsky drawings or as planar L-drawings of subdivisions of digraphs. The maximum number of subdivision vertices in an edge is then the split complexity. A PCOD is upward if each edge is drawn with monotonically increasing y-coordinates and quasi…
The task of finding an extension to a given partial drawing of a graph while adhering to constraints on the representation has been extensively studied in the literature, with well-known results providing efficient algorithms for fundamental representations such as planar and beyond-planar topological drawings. In this paper, we consider the extension problem for bend-minimal orthogonal drawings of planar connected graphs, which is among the most fundamental geometric graph drawing representations. While the problem was known to be \NP-hard, it is natural to consider the case where only a smal…
A plus-contact representation of a planar graph $G$ is called $c$-balanced if for every plus shape $+_v$, the number of other plus shapes incident to each arm of $+_v$ is at most $ c Δ+O(1)$, where $Δ$ is the maximum degree of $G$. Although small values of $c$ have been achieved for a few subclasses of planar graphs (e.g., $2$- and $3$-trees), it is unknown whether $c$-balanced representations with $c<1$ exist for arbitrary planar graphs. In this paper we compute $(1/2)$-balanced plus-contact representations for all planar graphs that admit a rectangular dual. Our result implies that any graph…
Orthogonal drawings, i.e., embeddings of graphs into grids, are a classic topic in Graph Drawing. Often the goal is to find a drawing that minimizes the number of bends on the edges. A key ingredient for bend minimization algorithms is the existence of an orthogonal representation that allows to describe such drawings purely combinatorially by only listing the angles between the edges around each vertex and the directions of bends on the edges, but neglecting any kind of geometric information such as vertex coordinates or edge lengths. Barth et al. [2] have established the existence of an anal…
There are numerous styles of planar graph drawings, notably straight-line drawings, poly-line drawings, orthogonal graph drawings and visibility representations. In this note, we show that many of these drawings can be transformed from one style to another without changing the height of the drawing. We then give some applications of these transformations.
Orthogonal drawings, i.e., embeddings of graphs into grids, are a classic topic in Graph Drawing. Often the goal is to find a drawing that minimizes the number of bends on the edges. A key ingredient for bend minimization algorithms is the existence of an orthogonal representation that describes such drawings combinatorially by only listing the angles between the edges around each vertex and the directions of bends on the edges, but neglecting any kind of geometric information such as vertex coordinates or edge lengths. We generalize this idea to ortho-radial representations of ortho-radial dr…
We show that several problems of compacting orthogonal graph drawings to use the minimum number of rows, area, length of longest edge or total edge length cannot be approximated better than within a polynomial factor of optimal in polynomial time unless P = NP. We also provide a fixed-parameter-tractable algorithm for testing whether a drawing can be compacted to a small number of rows.
An ortho-radial grid is described by concentric circles and straight-line spokes emanating from the circles' center. An ortho-radial drawing is the analog of an orthogonal drawing on an ortho-radial grid. Such a drawing has an unbounded outer face and a central face that contains the origin. Building on the notion of an ortho-radial representation (Barth et al., SoCG, 2017), we describe an integer-linear program (ILP) for computing bend-free ortho-radial representations with a given embedding and fixed outer and central face. Using the ILP as a building block, we introduce a pruning technique …
In a recent article (Auer et al, Algorithmica 2016) it was claimed that every outer-1-planar graph has a planar visibility representation of area $O(n\log n)$. In this paper, we show that this is wrong: There are outer-1-planar graphs that require $Ω(n^2)$ area in any planar drawing. Then wegive a construction (using crossings, but preserving a given outer-1-planar embedding) that results in an orthogonal box-drawing with O(n log n) area and at most two bends per edge.
We introduce L-drawings, a novel paradigm for representing directed graphs aiming at combining the readability features of orthogonal drawings with the expressive power of matrix representations. In an L-drawing, vertices have exclusive $x$- and $y$-coordinates and edges consist of two segments, one exiting the source vertically and one entering the destination horizontally. We study the problem of computing L-drawings using minimum ink. We prove its NP-completeness and provide a heuristics based on a polynomial-time algorithm that adds a vertex to a drawing using the minimum additional ink. W…
In an upward planar 2-slope drawing of a digraph, edges are drawn as straight-line segments in the upward direction without crossings using only two different slopes. We investigate whether a given upward planar digraph admits such a drawing and, if so, how to construct it. For the fixed embedding scenario, we give a simple characterisation and a linear-time construction by adopting algorithms from orthogonal drawings. For the variable embedding scenario, we describe a linear-time algorithm for single-source digraphs, a quartic-time algorithm for series-parallel digraphs, and a fixed-parameter…
We explore toroidal analogues of the Maxwell-Cremona correspondence. Erickson and Lin [arXiv:2003.10057] showed the following correspondence for geodesic torus graphs $G$: a positive equilibrium stress for $G$, an orthogonal embedding of its dual graph $G^*$, and vertex weights such that $G$ is the intrinsic weighted Delaunay graph of its vertices. We extend their results to equilibrium stresses that are not necessarily positive, which correspond to orthogonal drawings of $G^*$ that are not necessarily embeddings. We also give a correspondence between equilibrium stresses and parallel drawings…
Given a planar graph $G$ and an integer $b$, OrthogonalPlanarity is the problem of deciding whether $G$ admits an orthogonal drawing with at most $b$ bends in total. We show that OrthogonalPlanarity can be solved in polynomial time if $G$ has bounded treewidth. Our proof is based on an FPT algorithm whose parameters are the number of bends, the treewidth and the number of degree-2 vertices of $G$. This result is based on the concept of sketched orthogonal representation that synthetically describes a family of equivalent orthogonal representations. Our approach can be extended to related probl…
We introduce and study the $\textit{OrthoSEFE}-k$ problem: Given $k$ planar graphs each with maximum degree 4 and the same vertex set, do they admit an OrthoSEFE, that is, is there an assignment of the vertices to grid points and of the edges to paths on the grid such that the same edges in distinct graphs are assigned the same path and such that the assignment induces a planar orthogonal drawing of each of the $k$ graphs? We show that the problem is NP-complete for $k \geq 3$ even if the shared graph is a Hamiltonian cycle and has sunflower intersection and for $k \geq 2$ even if the shared g…
We prove that the geometric thickness of graphs whose maximum degree is no more than four is two. All of our algorithms run in O(n) time, where n is the number of vertices in the graph. In our proofs, we present an embedding algorithm for graphs with maximum degree three that uses an n x n grid and a more complex algorithm for embedding a graph with maximum degree four. We also show a variation using orthogonal edges for maximum degree four graphs that also uses an n x n grid. The results have implications in graph theory, graph drawing, and VLSI design.
