Layout of Graphs with Bounded Tree-Width

A \emph{queue layout} of a graph consists of a total order of the vertices, and a partition of the edges into \emph{queues}, such that no two edges in the same queue are nested. The minimum number of queues in a queue layout of a graph is its \emph{queue-number}. A \emph{three-dimensional (straight-line grid) drawing} of a graph represents the vertices by points in $\mathbb{Z}^3$ and the edges by non-crossing line-segments. This paper contributes three main results: (1) It is proved that the minimum volume of a certain type of three-dimensional drawing of a graph $G$ is closely related to the queue-number of $G$. In particular, if $G$ is an $n$-vertex member of a proper minor-closed family of graphs (such as a planar graph), then $G$ has a $O(1)\times O(1)\times O(n)$ drawing if and only if $G$ has O(1) queue-number. (2) It is proved that queue-number is bounded by tree-width, thus resolving an open problem due to Ganley and Heath (2001), and disproving a conjecture of Pemmaraju (1992). This result provides renewed hope for the positive resolution of a number of open problems in the theory of queue layouts. (3) It is proved that graphs of bounded tree-width have three-dimensional drawings with O(n) volume. This is the most general family of graphs known to admit three-dimensional drawings with O(n) volume. The proofs depend upon our results regarding \emph{track layouts} and \emph{tree-partitions} of graphs, which may be of independent interest.Comment: This is a revised version of a journal paper submitted in October 2002. This paper incorporates the following conference papers: (1) Dujmovic', Morin & Wood. Path-width and three-dimensional straight-line grid drawings of graphs (GD'02), LNCS 2528:42-53, Springer, 2002. (2) Wood. Queue layouts, tree-width, and three-dimensional graph drawing (FSTTCS'02), LNCS 2556:348--359, Springer, 2002. (3) Dujmovic' & Wood. Tree-partitions of $k$-trees with applications in graph layout (WG '03), LNCS 2880:205-217, 200

Pixel and Voxel Representations of Graphs

We study contact representations for graphs, which we call pixel representations in 2D and voxel representations in 3D. Our representations are based on the unit square grid whose cells we call pixels in 2D and voxels in 3D. Two pixels are adjacent if they share an edge, two voxels if they share a face. We call a connected set of pixels or voxels a blob. Given a graph, we represent its vertices by disjoint blobs such that two blobs contain adjacent pixels or voxels if and only if the corresponding vertices are adjacent. We are interested in the size of a representation, which is the number of pixels or voxels it consists of. We first show that finding minimum-size representations is NP-complete. Then, we bound representation sizes needed for certain graph classes. In 2D, we show that, for $k$-outerplanar graphs with $n$ vertices, $\Theta(kn)$ pixels are always sufficient and sometimes necessary. In particular, outerplanar graphs can be represented with a linear number of pixels, whereas general planar graphs sometimes need a quadratic number. In 3D, $\Theta(n^2)$ voxels are always sufficient and sometimes necessary for any $n$-vertex graph. We improve this bound to $\Theta(n\cdot \tau)$ for graphs of treewidth $\tau$ and to $O((g+1)^2n\log^2n)$ for graphs of genus $g$. In particular, planar graphs admit representations with $O(n\log^2n)$ voxels

Upward Three-Dimensional Grid Drawings of Graphs

A \emph{three-dimensional grid drawing} of a graph is a placement of the vertices at distinct points with integer coordinates, such that the straight line segments representing the edges do not cross. Our aim is to produce three-dimensional grid drawings with small bounding box volume. We prove that every $n$-vertex graph with bounded degeneracy has a three-dimensional grid drawing with $O(n^{3/2})$ volume. This is the broadest class of graphs admiting such drawings. A three-dimensional grid drawing of a directed graph is \emph{upward} if every arc points up in the z-direction. We prove that every directed acyclic graph has an upward three-dimensional grid drawing with $(n^3)$ volume, which is tight for the complete dag. The previous best upper bound was $O(n^4)$. Our main result is that every $c$-colourable directed acyclic graph ($c$ constant) has an upward three-dimensional grid drawing with $O(n^2)$ volume. This result matches the bound in the undirected case, and improves the best known bound from $O(n^3)$ for many classes of directed acyclic graphs, including planar, series parallel, and outerplanar

A Potential-Field-Based Multilevel Algorithm for Drawing Large Graphs

The aim of automatic graph drawing is to compute a well-readable layout of a given graph G=(V,E). One very popular class of algorithms for drawing general graphs are force-directed methods. These methods generate drawings of G in the plane so that each edge is represented by a straight line connecting its two adjacent nodes. The computation of the drawings is based on associating G with a physical model. Then, the algorithms iteratively try to find a placement of the nodes so that the total energy of the physical system is minimal. Several force-directed methods can visualize large graphs containing many thousands of vertices in reasonable time. However, only some of these methods guarantee a sub-quadratic running time in special cases or under certain assumptions, but not in general. The others are not sub-quadratic at all. We develop a new force-directed algorithm that is based on a combination of an efficient multilevel strategy and a method for approximating the repulsive forces in the system by rapidly evaluating potential fields. The worst-case running time of the new method is O(|V| log|V|+|E|) with linear memory requirements. In practice, the algorithm generates nice drawings of graphs containing up to 100000 nodes in less than five minutes. Furthermore, it clearly visualizes even the structures of those graphs that turned out to be challenging for other tested methods

Track Layouts of Graphs

A \emph{$(k,t)$-track layout} of a graph $G$ consists of a (proper) vertex $t$-colouring of $G$, a total order of each vertex colour class, and a (non-proper) edge $k$-colouring such that between each pair of colour classes no two monochromatic edges cross. This structure has recently arisen in the study of three-dimensional graph drawings. This paper presents the beginnings of a theory of track layouts. First we determine the maximum number of edges in a $(k,t)$-track layout, and show how to colour the edges given fixed linear orderings of the vertex colour classes. We then describe methods for the manipulation of track layouts. For example, we show how to decrease the number of edge colours in a track layout at the expense of increasing the number of tracks, and vice versa. We then study the relationship between track layouts and other models of graph layout, namely stack and queue layouts, and geometric thickness. One of our principle results is that the queue-number and track-number of a graph are tied, in the sense that one is bounded by a function of the other. As corollaries we prove that acyclic chromatic number is bounded by both queue-number and stack-number. Finally we consider track layouts of planar graphs. While it is an open problem whether planar graphs have bounded track-number, we prove bounds on the track-number of outerplanar graphs, and give the best known lower bound on the track-number of planar graphs.Comment: The paper is submitted for publication. Preliminary draft appeared as Technical Report TR-2003-07, School of Computer Science, Carleton University, Ottawa, Canad

Using One-Dimensional Compaction for Smaller Graph Drawings

We review the technique of one-dimensional compaction and use it as part of two new methods tackling problems in the context of automatic diagram layout: First, a postprocessing of the layer-based layout algorithm, also known as Sugiyama layout, and second a placement algorithm for connected components with external extensions. We apply our methods to dataflow diagrams from practical applications and find that the first method significantly reduces the width of left-to-right drawn diagrams. The second method allows to properly arrange disconnected graphs that have hierarchycrossing edges. Keywords: one-dimensional compaction, diagram layout, layer-based layout, Sugiyama layout, disconnected graphs, dataflow diagram