In this paper we deal with the problem of computing the exact crossing number of almost planar graphs and the closely related problem of computing the exact anchored crossing number of a pair of planar graphs. It was shown by [Cabello and Mohar, 2013] that both problems are NP-hard; although they required an unbounded number of high-degree vertices (in the first problem) or an unbounded number of anchors (in the second problem) to prove their result. Somehow surprisingly, only three vertices of degree greater than 3, or only three anchors, are sufficient to maintain hardness of these problems, as we prove here. The new result also improves the previous result on hardness of joint crossing number on surfaces by [Hliněný and Salazar, 2015]. Our result is best possible in the anchored case since the anchored crossing number of a pair of planar graphs with two anchors each is trivial, and close to being best possible in the almost planar case since the crossing number is efficiently computable for almost planar graphs of maximum degree 3 [Riskin 1996, Cabello and Mohar 2011].
We study the 1-planar, quasi-planar, and fan-planar crossing number in comparison to the (unrestricted) crossing number of graphs. We prove that there are $n$-vertex 1-planar (quasi-planar, fan-planar) graphs such that any 1-planar (quasi-planar, fan-planar) drawing has $Ω(n)$ crossings, while $O(1)$ crossings suffice in a crossing-minimal drawing without restrictions on local edge crossing patterns.
A graph is \emph{fan-crossing free} if it has a drawing in the plane so that each edge is crossed by independent edges, that is the crossing edges have distinct vertices. On the other hand, it is \emph{fan-crossing} if the crossing edges have a common vertex, that is they form a fan. Both are prominent examples for beyond-planar graphs. Further well-known beyond-planar classes are the $k$-planar, $k$-gap-planar, quasi-planar, and right angle crossing graphs. We use the subdivision, node-to-circle expansion and path-addition operations to distinguish all these graph classes. In particular, we s…
We study the following classes of beyond-planar graphs: 1-planar, IC-planar, and NIC-planar graphs. These are the graphs that admit a 1-planar, IC-planar, and NIC-planar drawing, respectively. A drawing of a graph is 1-planar if every edge is crossed at most once. A 1-planar drawing is IC-planar if no two pairs of crossing edges share a vertex. A 1-planar drawing is NIC-planar if no two pairs of crossing edges share two vertices. We study the relations of these beyond-planar graph classes (beyond-planar graphs is a collective term for the primary attempts to generalize the planar graphs) to ri…
In a drawing of a clustered graph vertices and edges are drawn as points and curves, respectively, while clusters are represented by simple closed regions. A drawing of a clustered graph is c-planar if it has no edge-edge, edge-region, or region-region crossings. Determining the complexity of testing whether a clustered graph admits a c-planar drawing is a long-standing open problem in the Graph Drawing research area. An obvious necessary condition for c-planarity is the planarity of the graph underlying the clustered graph. However, such a condition is not sufficient and the consequences on t…
Beyond-planarity focuses on the study of geometric and topological graphs that are in some sense nearly-planar. Here, planarity is relaxed by allowing edge crossings, but only with respect to some local forbidden crossing configurations. Early research dates back to the 1960s (e.g., Avital and Hanani 1966) for extremal problems on geometric graphs, but is also related to graph drawing problems where visual clutter by edge crossings should be minimized (e.g., Huang et al. 2008) that could negatively affect the readability of the drawing. Different types of forbidden crossing configurations give…
The $2$-layer drawing model is a well-established paradigm to visualize bipartite graphs. Several beyond-planar graph classes have been studied under this model. Surprisingly, however, the fundamental class of $k$-planar graphs has been considered only for $k=1$ in this context. We provide several contributions that address this gap in the literature. First, we show tight density bounds for the classes of $2$-layer $k$-planar graphs with $k\in\{2,3,4,5\}$. Based on these results, we provide a Crossing Lemma for $2$-layer $k$-planar graphs, which then implies a general density bound for $2$-lay…
In this paper we study the problem of existence of a crossing-free acyclic hamiltonian path completion (for short, HP-completion) set for embedded upward planar digraphs. In the context of book embeddings, this question becomes: given an embedded upward planar digraph $G$, determine whether there exists an upward 2-page book embedding of $G$ preserving the given planar embedding. Given an embedded $st$-digraph $G$ which has a crossing-free HP-completion set, we show that there always exists a crossing-free HP-completion set with at most two edges per face of $G$. For an embedded $N$-free upwar…
A graph is NIC-planar if it admits a drawing in the plane with at most one crossing per edge and such that two pairs of crossing edges share at most one common end vertex. NIC-planarity generalizes IC-planarity, which allows a vertex to be incident to at most one crossing edge, and specializes 1-planarity, which only requires at most one crossing per edge. We characterize embeddings of maximal NIC-planar graphs in terms of generalized planar dual graphs. The characterization is used to derive tight bounds on the density of maximal NIC-planar graphs which ranges between 3.2(n-2) and 3.6(n-2). F…
A graph is IC-planar if it admits a drawing in the plane with at most one crossing per edge and such that two pairs of crossing edges share no common end vertex. IC-planarity specializes both NIC-planarity, which allows a pair of crossing edges to share at most one vertex, and 1-planarity, where each edge may be crossed at most once. We show that there are infinitely maximal IC-planar graphs with n vertices and 3n-5 edges and thereby prove a tight lower bound on the density of this class of graphs.
Given a graph $G$ and a subset $F \subseteq E(G)$ of its edges, is there a drawing of $G$ in which all edges of $F$ are free of crossings? We show that this question can be solved in polynomial time using a Hanani-Tutte style approach. If we require the drawing of $G$ to be straight-line, and allow at most one crossing along each edge in $F$, the problem turns out to be as hard as the existential theory of the real numbers.
We prove that triangulated IC-planar and NIC-planar graphs can be recognized in cubic time. A graph is 1-planar if it can be drawn in the plane with at most one crossing per edge. A drawing is IC-planar if, in addition, each vertex is incident to at most one crossing edge and NIC-planar if two pairs of crossing edges share at most one vertex. In a triangulated drawing each face is a triangle. In consequence, planar-maximal and maximal IC-planar and NIC-planar graphs can be recognized in O(n^5) time and maximum and optimal ones in O(n^3) time. In contrast, recognizing 3-connected IC-planar and …
The Joint Crossing Number problem asks for a simultaneous embedding of two disjoint graphs into one surface such that the number of edge crossings (between the two graphs) is minimized. It was introduced by Negami in 2001 in connection with diagonal flips in triangulations of surfaces, and subsequently investigated in a general form for small-genus surfaces. We prove that all of the commonly considered variants of this problem are NP-hard already in the orientable surface of genus 6, by a reduction from a special variant of the anchored crossing number problem of Cabello and Mohar.
A fan is a set of edges with a single common endpoint. A graph is fan-crossing if it admits a drawing in the plane so that each edge is crossed by edges of a fan. It is fan-planar if, in addition, the common endpoint is on the same side of the crossed edge. A graph is adjacency-crossing if it admits a drawing so that crossing edges are adjacent. Then it excludes independent crossings which are crossings by edges with no common endpoint. Adjacency-crossing allows triangle-crossings in which an edge crosses the edges of a triangle, which is excluded at fan-crossing graphs. We show that every adj…
Path-addition is an operation that takes a graph and adds an internally vertex-disjoint path between two vertices together with a set of supplementary edges. Path-additions are just the opposite of taking minors. We show that some classes of graphs are closed under path-addition, including non-planar, right angle crossing, fan-crossing free, quasi-planar, (aligned) bar 1-visibility, and interval graphs, whereas others are not closed, including all subclasses of planar graphs, bounded treewidth, k-planar, fan-planar, outer-fan planar, outer-fan-crossing free, and bar (1,j)-visibility graphs.
The \emph{segment number} of a planar graph is the smallest number of line segments whose union represents a crossing-free straight-line drawing of the given graph in the plane. The segment number is a measure for the visual complexity of a drawing; it has been studied extensively. In this paper, we study three variants of the segment number: for planar graphs, we consider crossing-free polyline drawings in 2D; for arbitrary graphs, we consider crossing-free straight-line drawings in 3D and straight-line drawings with crossings in 2D. We first construct an infinite family of planar graphs wher…
For a class $\mathcal{D}$ of drawings of loopless (multi-)graphs in the plane, a drawing $D \in \mathcal{D}$ is \emph{saturated} when the addition of any edge to $D$ results in $D' \notin \mathcal{D}$ - this is analogous to saturated graphs in a graph class as introduced by Turán (1941) and Erdős, Hajnal, and Moon (1964). We focus on $k$-planar drawings, that is, graphs drawn in the plane where each edge is crossed at most $k$ times, and the classes $\mathcal{D}$ of all $k$-planar drawings obeying a number of restrictions, such as having no crossing incident edges, no pair of edges crossing mo…
We provide linear-time algorithms for geometric graphs with sublinearly many crossings. That is, we provide algorithms running in O(n) time on connected geometric graphs having n vertices and k crossings, where k is smaller than n by an iterated logarithmic factor. Specific problems we study include Voronoi diagrams and single-source shortest paths. Our algorithms all run in linear time in the standard comparison-based computational model; hence, we make no assumptions about the distribution or bit complexities of edge weights, nor do we utilize unusual bit-level operations on memory words. In…
Inspired by the increasingly popular research on extending partial graph drawings, we propose a new perspective on the traditional and arguably most important geometric graph parameter, the crossing number. Specifically, we define the partially predrawn crossing number to be the smallest number of crossings in any drawing of a graph, part of which is prescribed on the input (not counting the prescribed crossings). Our main result - an FPT-algorithm to compute the partially predrawn crossing number - combines advanced ideas from research on the classical crossing number and so called partial pl…
We consider the problem of untangling a given (non-planar) straight-line circular drawing $δ_G$ of an outerplanar graph $G=(V, E)$ into a planar straight-line circular drawing by shifting a minimum number of vertices to a new position on the circle. For an outerplanar graph $G$, it is clear that such a crossing-free circular drawing always exists and we define the circular shifting number shift$(δ_G)$ as the minimum number of vertices that are required to be shifted in order to resolve all crossings of $δ_G$. We show that the problem Circular Untangling, asking whether shift$(δ_G) \le K$ for a…
Let G be a planar graph and F a set of additional edges not yet in G. The multiple edge insertion problem (MEI) asks for a drawing of G+F with the minimum number of pairwise edge crossings, such that the subdrawing of G is plane. Finding an exact solution to MEI is NP-hard for general F. We present the first polynomial time algorithm for MEI that achieves an additive approximation guarantee -- depending only on the size of F and the maximum degree of G, in the case of connected G. Our algorithm seems to be the first directly implementable one in that realm, too, next to the single edge inserti…
A topological drawing of a graph is fan-planar if for each edge $e$ the edges crossing $e$ form a star and no endpoint of $e$ is enclosed by $e$ and its crossing edges. A fan-planar graph is a graph admitting such a drawing. Equivalently, this can be formulated by three forbidden patterns, one of which is the configuration where $e$ is crossed by two independent edges and the other two where $e$ is crossed by two incident edges in a way that encloses some endpoint of $e$. A topological drawing is simple if any two edges have at most one point in common. Fan-planar graphs are a new member in th…
Being motivated by John Tantalo's Planarity Game, we consider straight line plane drawings of a planar graph $G$ with edge crossings and wonder how obfuscated such drawings can be. We define $obf(G)$, the obfuscation complexity of $G$, to be the maximum number of edge crossings in a drawing of $G$. Relating $obf(G)$ to the distribution of vertex degrees in $G$, we show an efficient way of constructing a drawing of $G$ with at least $obf(G)/3$ edge crossings. We prove bounds $(δ(G)^2/24-o(1))n^2 < \obf G <3 n^2$ for an $n$-vertex planar graph $G$ with minimum vertex degree $δ(G)\ge 2$. The shif…
A simple topological graph is $k$-quasiplanar ($k\geq 2$) if it contains no $k$ pairwise crossing edges, and $k$-planar if no edge is crossed more than $k$ times. In this paper, we explore the relationship between $k$-planarity and $k$-quasiplanarity to show that, for $k \geq 2$, every $k$-planar simple topological graph can be transformed into a $(k+1)$-quasiplanar simple topological graph.
We study the maximal number of triangulations that a planar set of $n$ points can have, and show that it is at most $30^n$. This new bound is achieved by a careful optimization of the charging scheme of Sharir and Welzl (2006), which has led to the previous best upper bound of $43^n$ for the problem. Moreover, this new bound is useful for bounding the number of other types of planar (i.e., crossing-free) straight-line graphs on a given point set. Specifically, we derive new upper bounds for the number of planar graphs ($o(239.4^n)$), spanning cycles ($O(70.21^n)$), and spanning trees ($160^n$)…
A graph is outer-1-planar if it can be drawn in the plane so that all vertices are on the outer face and each edge is crossed at most once. It is known that the list edge chromatic number $χ'_l(G)$ of any outer-1-planar graph $G$ with maximum degree $Δ(G)\geq 5$ is exactly its maximum degree. In this paper, we prove $χ'_l(G)=Δ(G)$ for outer-1-planar graphs $G$ with $Δ(G)=4$ and with the crossing distance being at least 3.
Given an embedded planar acyclic digraph G, we define the problem of "acyclic hamiltonian path completion with crossing minimization (Acyclic-HPCCM)" to be the problem of determining an hamiltonian path completion set of edges such that, when these edges are embedded on G, they create the smallest possible number of edge crossings and turn G to a hamiltonian digraph. Our results include: --We provide a characterization under which a triangulated st-digraph G is hamiltonian. --For an outerplanar triangulated st-digraph G, we define the st-polygon decomposition of G and, based on its properties,…
Given a set of paths $P$ we define the \emph{Path Covering with Forest Number} of $P$} (PCFN($P$)) as the minimum size of a set $F$ of forests satisfying that every path in $P$ is contained in at least one forest in $F$. We show that PCFN($P$) is treatable when $P$ is a set of non-crossing shortest paths in a plane graph or subclasses. We prove that if $P$ is a set of non-crossing shortest paths of a planar graph $G$ whose extremal vertices lie on the same face of $G$, then PCFN($P$)\leq 4$, and this bound is tight.
We investigate crossing minimization for 1-page and 2-page book drawings. We show that computing the 1-page crossing number is fixed-parameter tractable with respect to the number of crossings, that testing 2-page planarity is fixed-parameter tractable with respect to treewidth, and that computing the 2-page crossing number is fixed-parameter tractable with respect to the sum of the number of crossings and the treewidth of the input graph. We prove these results via Courcelle's theorem on the fixed-parameter tractability of properties expressible in monadic second order logic for graphs of bou…
We introduce the problem Synchronized Planarity. Roughly speaking, its input is a loop-free multi-graph together with synchronization constraints that, e.g., match pairs of vertices of equal degree by providing a bijection between their edges. Synchronized Planarity then asks whether the graph admits a crossing-free embedding into the plane such that the orders of edges around synchronized vertices are consistent. We show, on the one hand, that Synchronized Planarity can be solved in quadratic time, and, on the other hand, that it serves as a powerful modeling language that lets us easily form…
We study the effects of planarization (the construction of a planar diagram $D$ from a non-planar graph $G$ by replacing each crossing by a new vertex) on graph width parameters. We show that for treewidth, pathwidth, branchwidth, clique-width, and tree-depth there exists a family of $n$-vertex graphs with bounded parameter value, all of whose planarizations have parameter value $Ω(n)$. However, for bandwidth, cutwidth, and carving width, every graph with bounded parameter value has a planarization of linear size whose parameter value remains bounded. The same is true for the treewidth, pathwi…
