Embedding large subgraphs into dense graphs

What conditions ensure that a graph G contains some given spanning subgraph H? The most famous examples of results of this kind are probably Dirac's theorem on Hamilton cycles and Tutte's theorem on perfect matchings. Perfect matchings are generalized by perfect F-packings, where instead of covering all the vertices of G by disjoint edges, we want to cover G by disjoint copies of a (small) graph F. It is unlikely that there is a characterization of all graphs G which contain a perfect F-packing, so as in the case of Dirac's theorem it makes sense to study conditions on the minimum degree of G which guarantee a perfect F-packing. The Regularity lemma of Szemeredi and the Blow-up lemma of Komlos, Sarkozy and Szemeredi have proved to be powerful tools in attacking such problems and quite recently, several long-standing problems and conjectures in the area have been solved using these. In this survey, we give an outline of recent progress (with our main emphasis on F-packings, Hamiltonicity problems and tree embeddings) and describe some of the methods involved

Exact Distance Oracles for Planar Graphs

We present new and improved data structures that answer exact node-to-node distance queries in planar graphs. Such data structures are also known as distance oracles. For any directed planar graph on n nodes with non-negative lengths we obtain the following: * Given a desired space allocation $S\in[n\lg\lg n,n^2]$, we show how to construct in $\tilde O(S)$ time a data structure of size $O(S)$ that answers distance queries in $\tilde O(n/\sqrt S)$ time per query. As a consequence, we obtain an improvement over the fastest algorithm for k-many distances in planar graphs whenever $k\in[\sqrt n,n)$. * We provide a linear-space exact distance oracle for planar graphs with query time $O(n^{1/2+eps})$ for any constant eps>0. This is the first such data structure with provable sublinear query time. * For edge lengths at least one, we provide an exact distance oracle of space $\tilde O(n)$ such that for any pair of nodes at distance D the query time is $\tilde O(min {D,\sqrt n})$. Comparable query performance had been observed experimentally but has never been explained theoretically. Our data structures are based on the following new tool: given a non-self-crossing cycle C with $c = O(\sqrt n)$ nodes, we can preprocess G in $\tilde O(n)$ time to produce a data structure of size $O(n \lg\lg c)$ that can answer the following queries in $\tilde O(c)$ time: for a query node u, output the distance from u to all the nodes of C. This data structure builds on and extends a related data structure of Klein (SODA'05), which reports distances to the boundary of a face, rather than a cycle. The best distance oracles for planar graphs until the current work are due to Cabello (SODA'06), Djidjev (WG'96), and Fakcharoenphol and Rao (FOCS'01). For $\sigma\in(1,4/3)$ and space $S=n^\sigma$, we essentially improve the query time from $n^2/S$ to $\sqrt{n^2/S}$.Comment: To appear in the proceedings of the 23rd ACM-SIAM Symposium on Discrete Algorithms, SODA 201

Single Source - All Sinks Max Flows in Planar Digraphs

Let G = (V,E) be a planar n-vertex digraph. Consider the problem of computing max st-flow values in G from a fixed source s to all sinks t in V\{s}. We show how to solve this problem in near-linear O(n log^3 n) time. Previously, no better solution was known than running a single-source single-sink max flow algorithm n-1 times, giving a total time bound of O(n^2 log n) with the algorithm of Borradaile and Klein. An important implication is that all-pairs max st-flow values in G can be computed in near-quadratic time. This is close to optimal as the output size is Theta(n^2). We give a quadratic lower bound on the number of distinct max flow values and an Omega(n^3) lower bound for the total size of all min cut-sets. This distinguishes the problem from the undirected case where the number of distinct max flow values is O(n). Previous to our result, no algorithm which could solve the all-pairs max flow values problem faster than the time of Theta(n^2) max-flow computations for every planar digraph was known. This result is accompanied with a data structure that reports min cut-sets. For fixed s and all t, after O(n^{3/2} log^{3/2} n) preprocessing time, it can report the set of arcs C crossing a min st-cut in time roughly proportional to the size of C.Comment: 25 pages, 4 figures; extended abstract appeared in FOCS 201

Hamilton cycles in graphs and hypergraphs: an extremal perspective

As one of the most fundamental and well-known NP-complete problems, the Hamilton cycle problem has been the subject of intensive research. Recent developments in the area have highlighted the crucial role played by the notions of expansion and quasi-randomness. These concepts and other recent techniques have led to the solution of several long-standing problems in the area. New aspects have also emerged, such as resilience, robustness and the study of Hamilton cycles in hypergraphs. We survey these developments and highlight open problems, with an emphasis on extremal and probabilistic approaches.Comment: to appear in the Proceedings of the ICM 2014; due to given page limits, this final version is slightly shorter than the previous arxiv versio

Pose-graph SLAM sparsification using factor descent

Since state of the art simultaneous localization and mapping (SLAM) algorithms are not constant time, it is often necessary to reduce the problem size while keeping as much of the original graph’s information content. In graph SLAM, the problem is reduced by removing nodes and rearranging factors. This is normally faced locally: after selecting a node to be removed, its Markov blanket sub-graph is isolated, the node is marginalized and its dense result is sparsified. The aim of sparsification is to compute an approximation of the dense and non-relinearizable result of node marginalization with a new set of factors. Sparsification consists on two processes: building the topology of new factors, and finding the optimal parameters that best approximate the original dense distribution. This best approximation can be obtained through minimization of the Kullback-Liebler divergence between the two distributions. Using simple topologies such as Chow-Liu trees, there is a closed form for the optimal solution. However, a tree is oftentimes too sparse and produces bad distribution approximations. On the contrary, more populated topologies require nonlinear iterative optimization. In the present paper, the particularities of pose-graph SLAM are exploited for designing new informative topologies and for applying the novel factor descent iterative optimization method for sparsification. Several experiments are provided comparing the proposed topology methods and factor descent optimization with state-of-the-art methods in synthetic and real datasets with regards to approximation accuracy and computational cost.Peer ReviewedPostprint (author's final draft