Eduard Eiben, Robert Ganian, Thekla Hamm, Fabian Klute, Martin Nöllenburg
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A shortened version of this article has been accepted for presentation and publication at the 47th International Colloquium on Automata, Languages and Programming (ICALP 2020)
Algorithmic extension problems of partial graph representations such as planar graph drawings or geometric intersection representations are of growing interest in topological graph theory and graph drawing. In such an extension problem, we are given a tuple $(G,H,\mathcal{H})$ consisting of a graph $G$, a connected subgraph $H$ of $G$ and a drawing $\mathcal{H}$ of $H$, and the task is to extend $\mathcal{H}$ into a drawing of $G$ while maintaining some desired property of the drawing, such as planarity.
In this paper we study the problem of extending partial 1-planar drawings, which are drawings in the plane that allow each edge to have at most one crossing. In addition we consider the subclass of IC-planar drawings, which are 1-planar drawings with independent crossings. Recognizing 1-planar graphs as well as IC-planar graphs is \NP-complete and the \NP-completeness easily carries over to the extension problem. Therefore, our focus lies on establishing the tractability of such extension problems in a weaker sense than polynomial-time tractability. Here, we show that both problems are fixed-parameter tractable when parameterized by the number of edges missing from $H$, i.e., the edge deletion distance between $H$ and $G$. The second part of the paper then turns to a more powerful parameterization which is based on measuring the vertex+edge deletion distance between the partial and complete drawing, i.e., the minimum number of vertices and edges that need to be deleted to obtain $H$ from $G$.
A monotone drawing of a planar graph $G$ is a planar straight-line drawing of $G$ where a monotone path exists between every pair of vertices of $G$ in some direction. Recently monotone drawings of planar graphs have been proposed as a new standard for visualizing graphs. A monotone drawing of a planar graph is a monotone grid drawing if every vertex in the drawing is drawn on a grid point. In this paper we study monotone grid drawings of planar graphs in a variable embedding setting. We show that every connected planar graph of $n$ vertices has a monotone grid drawing on a grid of size $O(n)\…
A morph between two straight-line planar drawings of the same graph is a continuous transformation from the first to the second drawing such that planarity is preserved at all times. Each step of the morph moves each vertex at constant speed along a straight line. Although the existence of a morph between any two drawings was established several decades ago, only recently it has been proved that a polynomial number of steps suffices to morph any two planar straight-line drawings. Namely, at SODA 2013, Alamdari et al.[1] proved that any two planar straight-line drawings of a planar graph can be…
We study planar drawings of directed graphs in the L-drawing standard. We provide necessary conditions for the existence of these drawings and show that testing for the existence of a planar L-drawing is an NP-complete problem. Motivated by this result, we focus on upward-planar L-drawings. We show that directed st-graphs admitting an upward- (resp. upward-rightward-) planar L-drawing are exactly those admitting a bitonic (resp. monotonically increasing) st-ordering. We give a linear-time algorithm that computes a bitonic (resp. monotonically increasing) st-ordering of a planar st-graph or rep…
Given a plane graph $G$ (i.e., a planar graph with a fixed planar embedding) and a simple cycle $C$ in $G$ whose vertices are mapped to a convex polygon, we consider the question whether this drawing can be extended to a planar straight-line drawing of $G$. We characterize when this is possible in terms of simple necessary conditions, which we prove to be sufficient. This also leads to a linear-time testing algorithm. If a drawing extension exists, it can be computed in the same running time.
We provide an algorithm for computing a planar morph between any two planar straight-line drawings of any $n$-vertex plane graph in $O(n)$ morphing steps, thus improving upon the previously best known $O(n^2)$ upper bound. Further, we prove that our algorithm is optimal, that is, we show that there exist two planar straight-line drawings $Γ_s$ and $Γ_t$ of an $n$-vertex plane graph $G$ such that any planar morph between $Γ_s$ and $Γ_t$ requires $Ω(n)$ morphing steps.
We introduce and study level-planar straight-line drawings with a fixed number $λ$ of slopes. For proper level graphs, we give an $O(n \log^2 n / \log \log n)$-time algorithm that either finds such a drawing or determines that no such drawing exists. Moreover, we consider the partial drawing extension problem, where we seek to extend an immutable drawing of a subgraph to a drawing of the whole graph, and the simultaneous drawing problem, which asks about the existence of drawings of two graphs whose restrictions to their shared subgraph coincide. We present $O(n^{4/3} \log n)$-time and $O(λ n^…
A natural way to represent on the plane both a planar graph and its dual is to follow the definition of the dual, thus, to place vertices inside their corresponding primal faces, and to draw the dual edges so that they only cross their corresponding primal edges. The problem of constructing such drawings has a long tradition when the drawings of both primal and dual are required to be straight-line. We consider the same problem for a planar graph and its rectangular dual. We show that the rectangular dual can be resized to host a planar straight-line drawing of its primal.
Given two planar graphs that are defined on the same set of vertices, a RAC simultaneous drawing is one in which each graph is drawn planar, there are no edge overlaps and the crossings between the two graphs form right angles. The geometric version restricts the problem to straight-line drawings. It is known, however, that there exists a wheel and a matching which do not admit a geometric RAC simultaneous drawing. In order to enlarge the class of graphs that admit RAC simultaneous drawings, we allow bends in the resulting drawings. We prove that two planar graphs always admit a RAC simultaneo…
An octilinear drawing of a planar graph is one in which each edge is drawn as a sequence of horizontal, vertical and diagonal at 45 degrees line-segments. For such drawings to be readable, special care is needed in order to keep the number of bends small. As the problem of finding planar octilinear drawings of minimum number of bends is NP-hard, in this paper we focus on upper and lower bounds. From a recent result of Keszegh et al. on the slope number of planar graphs, we can derive an upper bound of 4n-10 bends for 8-planar graphs with n vertices. We considerably improve this general bound a…
We investigate the problem of constructing planar drawings with few bends for two related problems, the partially embedded graph problem---to extend a straight-line planar drawing of a subgraph to a planar drawing of the whole graph---and the simultaneous planarity problem---to find planar drawings of two graphs that coincide on shared vertices and edges. In both cases we show that if the required planar drawings exist, then there are planar drawings with a linear number of bends per edge and, in the case of simultaneous planarity, a constant number of crossings between every pair of edges. Ou…
In this paper we study the computational complexity of the Upward Planarity Extension problem, which takes in input an upward planar drawing $Γ_H$ of a subgraph $H$ of a directed graph $G$ and asks whether $Γ_H$ can be extended to an upward planar drawing of $G$. Our study fits into the line of research on the extensibility of partial representations, which has recently become a mainstream in Graph Drawing. We show the following results. First, we prove that the Upward Planarity Extension problem is NP-complete, even if $G$ has a prescribed upward embedding, the vertex set of $H$ coincides wit…
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…
It is proven that every set $S$ of distinct points in the plane with cardinality $\lceil \frac{\sqrt{\log_2 n}-1}{4} \rceil$ can be a subset of the vertices of a crossing-free straight-line drawing of any planar graph with $n$ vertices. It is also proven that if $S$ is restricted to be a one-sided convex point set, its cardinality increases to $\lceil \sqrt[3]{n} \rceil$. The proofs are constructive and give rise to O(n)-time drawing algorithms. As a part of our proofs, we show that every maximal planar graph contains a large induced biconnected outerplanar graphs and a large induced outerpath…
We show how to test in linear time whether an outerplanar graph admits a planar rectilinear drawing, both if the graph has a prescribed plane embedding that the drawing has to respect and if it does not. Our algorithm returns a planar rectilinear drawing if the graph admits one.
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.
Let $G$ be a graph that is topologically embedded in the plane and let $\mathcal{A}$ be an arrangement of pseudolines intersecting the drawing of $G$. An aligned drawing of $G$ and $\mathcal{A}$ is a planar polyline drawing $Γ$ of $G$ with an arrangement $A$ of lines so that $Γ$ and $A$ are homeomorphic to $G$ and $\mathcal{A}$. We show that if $\mathcal{A}$ is stretchable and every edge $e$ either entirely lies on a pseudoline or it has at most one intersection with $\mathcal{A}$, then $G$ and $\mathcal{A}$ have a straight-line aligned drawing. In order to prove this result, we strengthen a r…
In this paper we study the area requirements of planar greedy drawings of triconnected planar graphs. Cao, Strelzoff, and Sun exhibited a family $\cal H$ of subdivisions of triconnected plane graphs and claimed that every planar greedy drawing of the graphs in $\mathcal H$ respecting the prescribed plane embedding requires exponential area. However, we show that every $n$-vertex graph in $\cal H$ actually has a planar greedy drawing respecting the prescribed plane embedding on an $O(n)\times O(n)$ grid. This reopens the question whether triconnected planar graphs admit planar greedy drawings o…
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…
In octilinear drawings of planar graphs, every edge is drawn as an alternating sequence of horizontal, vertical and diagonal ($45^\circ$) line-segments. In this paper, we study octilinear drawings of low edge complexity, i.e., with few bends per edge. A $k$-planar graph is a planar graph in which each vertex has degree less or equal to $k$. In particular, we prove that every 4-planar graph admits a planar octilinear drawing with at most one bend per edge on an integer grid of size $O(n^2) \times O(n)$. For 5-planar graphs, we prove that one bend per edge still suffices in order to construct pl…
We continue the study of the area requirement of convex straight-line grid drawings of 3-connected plane graphs, which has been intensively investigated in the last decades. Motivated by applications, such as graph editors, we additionally require the obtained drawings to have bounded edge-vertex resolution, that is, the closest distance between a vertex and any non-incident edge is lower bounded by a constant that does not depend on the size of the graph. We present a drawing algorithm that takes as input a 3-connected plane graph with n vertices and f internal faces and computes a convex str…
In a planar L-drawing of a directed graph (digraph) each edge e is represented as a polyline composed of a vertical segment starting at the tail of e and a horizontal segment ending at the head of e. Distinct edges may overlap, but not cross. Our main focus is on bimodal graphs, i.e., digraphs admitting a planar embedding in which the incoming and outgoing edges around each vertex are contiguous. We show that every plane bimodal graph without 2-cycles admits a planar L-drawing. This includes the class of upward-plane graphs. Finally, outerplanar digraphs admit a planar L-drawing - although the…
Canonical orderings of planar graphs have frequently been used in graph drawing and other graph algorithms. In this paper we introduce the notion of an $(r,s)$-canonical order, which unifies many of the existing variants of canonical orderings. We then show that $(3,1)$-canonical ordering for 4-connected triangulations always exist; to our knowledge this variant of canonical ordering was not previously known. We use it to give much simpler proofs of two previously known graph drawing results for 4-connected planar triangulations, namely, rectangular duals and rectangle-of-influence drawings.
While orthogonal drawings have a long history, smooth orthogonal drawings have been introduced only recently. So far, only planar drawings or drawings with an arbitrary number of crossings per edge have been studied. Recently, a lot of research effort in graph drawing has been directed towards the study of beyond-planar graphs such as 1-planar graphs, which admit a drawing where each edge is crossed at most once. In this paper, we consider graphs with a fixed embedding. For 1-planar graphs, we present algorithms that yield orthogonal drawings with optimal curve complexity and smooth orthogonal…
We show that any $y$-monotone poly-line drawing can be straightened out while maintaining $y$-coordinates and height. The width may increase much, but we also show that on some graphs exponential width is required if we do not want to increase the height. Likewise $y$-monotonicity is required: there are poly-line drawings (not $y$-monotone) that cannot be straightened out while maintaining the height. We give some applications of our result.
A planar orthogonal drawing $Γ$ of a planar graph $G$ is a geometric representation of $G$ such that the vertices are drawn as distinct points of the plane, the edges are drawn as chains of horizontal and vertical segments, and no two edges intersect except at their common end-points. A bend of $Γ$ is a point of an edge where a horizontal and a vertical segment meet. $Γ$ is bend-minimum if it has the minimum number of bends over all possible planar orthogonal drawings of $G$. This paper addresses a long standing, widely studied, open question: Given a planar 3-graph $G$ (i.e., a planar graph w…
It is well-known that both the pathwidth and the outer-planarity of a graph can be used to obtain lower bounds on the height of a planar straight-line drawing of a graph. But both bounds fall short for some graphs. In this paper, we consider two other parameters, the (simple) homotopy height and the (simple) grid-major height. We discuss the relationship between them and to the other parameters, and argue that they give lower bounds on the straight-line drawing height that are never worse than the ones obtained from pathwidth and outer-planarity.
It has been recently shown that any graph of genus g>0 can be stochastically embedded into a distribution over planar graphs, with distortion Olog (g+1)) [Sidiropoulos, FOCS 2010]. This embedding can be computed in polynomial time, provided that a drawing of the input graph into a genus-g surface is given. We show how to compute the above embedding without having such a drawing. This implies a general reduction for solving problems on graphs of small genus, even when the drawing into a small genus surface is unknown. To the best of our knowledge, this is the first result of this type.
In an upward-planar L-drawing of a directed acyclic graph (DAG) each edge $e$ is represented as a polyline composed of a vertical segment with its lowest endpoint at the tail of $e$ and of a horizontal segment ending at the head of $e$. Distinct edges may overlap, but not cross. Recently, upward-planar L-drawings have been studied for $st$-graphs, i.e., planar DAGs with a single source $s$ and a single sink $t$ containing an edge directed from $s$ to $t$. It is known that a plane $st$-graph, i.e., an embedded $st$-graph in which the edge $(s,t)$ is incident to the outer face, admits an upward-…
The edge-length ratio of a straight-line drawing of a graph is the ratio between the lengths of the longest and of the shortest edge in the drawing. The planar edge-length ratio of a planar graph is the minimum edge-length ratio of any planar straight-line drawing of the graph. In this paper, we study the planar edge-length ratio of planar graphs. We prove that there exist $n$-vertex planar graphs whose planar edge-length ratio is in $Ω(n)$; this bound is tight. We also prove upper bounds on the planar edge-length ratio of several families of planar graphs, including series-parallel graphs and…
A fixed-mobile bigraph G is a bipartite graph such that the vertices of one partition set are given with fixed positions in the plane and the mobile vertices of the other part, together with the edges, must be added to the drawing. We assume that G is planar and study the problem of finding, for a given k >= 0, a planar poly-line drawing of G with at most k bends per edge. In the most general case, we show NP-hardness. For k=0 and under additional constraints on the positions of the fixed or mobile vertices, we either prove that the problem is polynomial-time solvable or prove that it belongs …
Given an n-vertex graph G, a drawing of G in the plane is a mapping of its vertices into points of the plane, and its edges into continuous curves, connecting the images of their endpoints. A crossing in such a drawing is a point where two such curves intersect. In the Minimum Crossing Number problem, the goal is to find a drawing of G with minimum number of crossings. The value of the optimal solution, denoted by OPT, is called the graph's crossing number. This is a very basic problem in topological graph theory, that has received a significant amount of attention, but is still poorly underst…
A bar 1-visibility drawing of a graph $G$ is a drawing of $G$ where each vertex is drawn as a horizontal line segment called a bar, each edge is drawn as a vertical line segment where the vertical line segment representing an edge must connect the horizontal line segments representing the end vertices and a vertical line segment corresponding to an edge intersects at most one bar which is not an end point of the edge. A graph $G$ is bar 1-visible if $G$ has a bar 1-visibility drawing. A graph $G$ is 1-planar if $G$ has a drawing in a 2-dimensional plane such that an edge crosses at most one ot…
We prove that, given two topologically-equivalent upward planar straight-line drawings of an $n$-vertex directed graph $G$, there always exists a morph between them such that all the intermediate drawings of the morph are upward planar and straight-line. Such a morph consists of $O(1)$ morphing steps if $G$ is a reduced planar $st$-graph, $O(n)$ morphing steps if $G$ is a planar $st$-graph, $O(n)$ morphing steps if $G$ is a reduced upward planar graph, and $O(n^2)$ morphing steps if $G$ is a general upward planar graph. Further, we show that $Ω(n)$ morphing steps might be necessary for an upwa…
We describe algorithms for drawing media, systems of states, tokens and actions that have state transition graphs in the form of partial cubes. Our algorithms are based on two principles: embedding the state transition graph in a low-dimensional integer lattice and projecting the lattice onto the plane, or drawing the medium as a planar graph with centrally symmetric faces.
In this paper, we introduce and study the multilevel-planarity testing problem, which is a generalization of upward planarity and level planarity. Let $G = (V, E)$ be a directed graph and let $\ell: V \to \mathcal P(\mathbb Z)$ be a function that assigns a finite set of integers to each vertex. A multilevel-planar drawing of $G$ is a planar drawing of $G$ such that the $y$-coordinate of each vertex $v \in V$ is $y(v) \in \ell(v)$, and each edge is drawn as a strictly $y$-monotone curve. We present linear-time algorithms for testing multilevel planarity of embedded graphs with a single source a…
In this paper we study planar morphs between straight-line planar grid drawings of trees. A morph consists of a sequence of morphing steps, where in a morphing step vertices move along straight-line trajectories at constant speed. We show how to construct planar morphs that simultaneously achieve a reduced number of morphing steps and a polynomially-bounded resolution. We assume that both the initial and final drawings lie on the grid and we ensure that each morphing step produces a grid drawing; further, we consider both upward drawings of rooted trees and drawings of arbitrary trees.
We consider the problem of finding a 1-planar drawing for a general graph, where a 1-planar drawing is a drawing in which each edge participates in at most one crossing. Since this problem is known to be NP-hard we investigate the parameterized complexity of the problem with respect to the vertex cover number, tree-depth, and cyclomatic number. For these parameters we construct fixed-parameter tractable algorithms. However, the problem remains NP-complete for graphs of bounded bandwidth, pathwidth, or treewidth.
Let $G$ be a planar $3$-graph (i.e., a planar graph with vertex degree at most three) with $n$ vertices. We present the first $O(n^2)$-time algorithm that computes a planar orthogonal drawing of $G$ with the minimum number of bends in the variable embedding setting. If either a distinguished edge or a distinguished vertex of $G$ is constrained to be on the external face, a bend-minimum orthogonal drawing of $G$ that respects this constraint can be computed in $O(n)$ time. Different from previous approaches, our algorithm does not use minimum cost flow models and computes drawings where every e…
In this work we consider balanced Schnyder woods for planar graphs, which are Schnyder woods where the number of incoming edges of each color at each vertex is balanced as much as possible. We provide a simple linear-time heuristic leading to obtain well balanced Schnyder woods in practice. As test applications we consider two important algorithmic problems: the computation of Schnyder drawings and of small cycle separators. While not being able to provide theoretical guarantees, our experimental results (on a wide collection of planar graphs) suggest that the use of balanced Schnyder woods le…
We study the algorithmic problem of computing drawings of graphs in which $(i)$ each vertex is a disk with fixed radius $ρ$, $(ii)$ each edge is a straight-line segment connecting the centers of the two disks representing its end-vertices, $(iii)$ no two disks intersect, and $(iv)$ the distance between an edge segment and the center of a non-incident disk, called \emph{edge-vertex resolution}, is at least $ρ$. We call such drawings \emph{disk-link drawings}. In this paper we focus on the case of constant edge-vertex resolution, namely $ρ=\frac{1}{2}$ (i.e., disks of unit diameter). We prove th…
We study two variants of the well-known orthogonal drawing model: (i) the smooth orthogonal, and (ii) the octilinear. Both models form an extension of the orthogonal, by supporting one additional type of edge segments (circular arcs and diagonal segments, respectively). For planar graphs of max-degree 4, we analyze relationships between the graph classes that can be drawn bendless in the two models and we also prove NP-hardness for a restricted version of the bendless drawing problem for both models. For planar graphs of higher degree, we present an algorithm that produces bi-monotone smooth o…
Two planar graphs G1 and G2 sharing some vertices and edges are `simultaneously planar' if they have planar drawings such that a shared vertex [edge] is represented by the same point [curve] in both drawings. It is an open problem whether simultaneous planarity can be tested efficiently. We give a linear-time algorithm to test simultaneous planarity when the two graphs share a 2-connected subgraph. Our algorithm extends to the case of k planar graphs where each vertex [edge] is either common to all graphs or belongs to exactly one of them.
Ortho-Radial drawings are a generalization of orthogonal drawings to grids that are formed by concentric circles and straight-line spokes emanating from the circles' center. Such drawings have applications in schematic graph layouts, e.g., for metro maps and destination maps. A plane graph is a planar graph with a fixed planar embedding. We give a combinatorial characterization of the plane graphs that admit a planar ortho-radial drawing without bends. Previously, such a characterization was only known for paths, cycles, and theta graphs, and in the special case of rectangular drawings for cub…
