Presentation 7-02-13 Graph Drawing

Graph Drawing Malte Skambath Introduction
Challenges Types of drawings
Graph Drawing
Computational Geometry
Force-directed approach
Spring Embedder Simulated Annealing
Crossing Minimization
Planarization Approach
Malte Skambath
zu Lubeck Universitat Institute for Theoretical Computer Science
Dual graph SPQR-tree
Orthogonal Bend Minimization

Orthogonal Drawing MinCostFlow-Problem
Summary
February 7, 2012
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Outline

Introduction Force-directed approach Crossing Minimization Orthogonal Bend Minimization Summary
Planarization Approach Dual graph SPQR-tree

Summary
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Introduction
What is Graph Drawing?

How to draw nice graphs?

Summary
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Challenges
What is a nice graph?

Visualization of the graph should have nice look No precisely denition. Criteria on nice drawings
Symmetries Less crossing as possible Less bends as possible
Drawing should represents special properties

Topological sorting

Summary
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Types of drawings


Orthogonal Drawing
(a)
(b)
(c)
(d)
MinCostFlow-Problem
Summary
Figure : Types of drawings: a polyline (a), straight-line (b) and (c) an orthogonal drawing of K3,3 ; (d) upward drawing
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Motivation
Is it useful for me?

state-machines UML class diagrams electrical circuits / chip-design trafc-nets (e. g. bus map)
rtlenburger Str. rd-Wagner-Str.
Graph
Node
Mozartstr.
Edge
PlanarGraph
Faces
Friedenstr. 1 Adolf40 str. Wickedestr. 39 Gustav- 30 Fackenburger RadbruchAllee 32 Beckergrube Platz 32 31 15 Ehren- Z 40 Breite Str./ friedhof LindenArcaden 12 Schulstr. 11 Meierstr. 3 Stadtche Tpferweg 30 12 Geschw.-S theater UnterGroe trave Gustav-Adolf-S Burgstr. RoeckZOB/ 30 31 39 Schssel3 Hauptbahnhof str. buden Heinrichstr. 39 40 8720 Koberg 15 31 HolstentorDrger- 4 LachswehrLauerho 21 e platz park 11 StadtKatharineum allee 11 4 werke 10 Falkendam m Schenk 8720 5 15 5 Fleischhauerer DrgerKohlm arkt str. An der werk 15 32 10 Falkenwiese Gneisenaustr. 1 2 6 7 9 16 (17) Wahm str. 2 Goeben3 Linien 15 u. 32 5 Percevalstr. Sandstr. str. WielandUm leitung wegen MarliMeesenNeubau str. Krhenring ring Hansering Blanckstr. Knigstr. Possehlbrcke str. 11 4 bis 2014/15 Fegefeuer Am 5 Kaufhof 4 Moltkestr. MoltkeLutherkirche H Bertram shof Hxtertorallee platz Wisbystr.
(17) 9 ibis Hotel An der 7 12 Stadt3 freiheit 21

Adlerstr.
Drgestr.
10
Torneiweg Bun we Luisenstr. BurgtorHanse friedhof Reside

LBECK HBF
R1 R2
Summary
keine Bedienung
Welsbachstr.
Walkm hlenweg Bei der en Gasanstalt en Zeistr
Verwaltungszentrum Mhlentor Theodor-HeussSt
Stadthalle
15
Stresem annstr.
Kernzone 6000
Pensebusch Trk
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Spring Embedder
Used for straight line drawings Model the graph-vertices and edges as physical objects with forces Distance of adjacent vertices (v , w ) should be nearly the same distance d (v , w ) No overlapping vertices
Simulated Annealing

Summary
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1. Generate random representation of G with random positions p(v ) for v V 2. Calculate forces between each pair of vertices vi , vj : f (vi , vj ) 3. Calculate resulting force f (v ) for each node v V : f (v ) w V \{v } f (v , w ) 4. Update positions p(v ) = p(v ) + f (v )


Summary
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Spring Embedder
Remember: we want a unit distance d (v , w ) if v , w are adjacent Model edges as springs with a unit length unit length no force attracting force (adjacent vertices): fa = ca log d cr repelling force (non-adjacent vertices): fr = 2 d stepwise simulatable fa (v , w ), (v , w ) E f (v ) = (p(w ) p(v )) fr (v , w ), (v , w ) E w V \{v } p(v ) := p(v ) + f (v )


Summary
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Spring Embedder
Sample


Summary
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Advantages & Disadvantages

easy implementable usefull for interactive implementation time-complexity: O (n|V |2 ) slow with huge graphs non-predictable result


Summary
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Simulated Annealing

Goal: optimize drawing to selected criterias No forces, but physical model Inspired by cool-down process in liquids Dene an energy-function E : R Low value E ( ) ts many criteria High temperature T high propabilty P nding a better conguration Low energy value E ( ) low propability P nding a better conguration

Summary
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Simulated Annealing
Algorithm 1: Simulated Annealing Graph Drawing input : A graph G = (V , E ), an initial temperature T output: A straight-line drawing of G begin Create initial drawing/conguration with random pos. for each vertex v V ; while do Choose a new conguration from the neighborhood of ; Let E and E be the energy values of and ; if E < E or with a probability of e(E E )/T then ; Decrease T


Summary
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Energy function
should depend on the criteria low time complexity Example (by R. Davidson and D. Harel.): f = 1
i =j

1 d (ni , nj ) dbord (n)
distribution border dist. edge length edge crossings edge-distance
+ 2
nV

+ 3
eE
d (e)
Summary
+ 4 crossings + 5
eE ,nV
d (n, e)
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Neighborhood & energy function

How can we dene the neighborhood? change the position of a single node in

Summary
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Simulated annealing
example


Summary
R. Davidson, D. Harel Drawing Graphs Nicely Using Simulated Annealing, 1996
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Goal: reduce number of crossings in a drawing of a non-planar graph G We know: planar graphs can be drawn without crossings Approximate Graph as a planar graph Idea: convert non-planar graphs into planar graphs and replace non-removable crossings as virtual vertices Planarizataion approach: create a planar embedding of the new graph


Summary
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1. Find maximum planar subgraph and embedding, without crossing 2. Create embedding of the graph 3. Insert the non-planar edges with a minimum number of crossing, use crossings as virtual vertices

Summary
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1. Find maximum planar subgraph and embedding, without crossing 2. Create embedding of the graph 3. Insert the non-planar edges with a minimum number of crossing, use crossings as virtual vertices Problem Finding a maximum-planar subgraph is N P -hard . trade off nd a maximal planar subgraph

Summary
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Maximal planar subgraph

Algorithm 2: Maximal planar subgraph input : a graph G = (V , E ) output: a maximal planar subgraph G = (V , E ) of G begin E = ; while there is an edge e E \ E that G = (V , E {e}) is planar do E E { e }; return G ;

Summary
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Denition A dual graph DG = (F , E ) of a planar graph G = (V , E ) is a (multi-)graph where F represents the faces in a planar embedding of G. Each pair f1 , f2 F of adjacent faces is splitted by an edge in G. E (F ) E (G)

Summary
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Insert non-planar edge with min. crossings

Insert non-planar edge e = (v , w ) E 1. Find shortest path p in the dual-graph DG 2. Insert e over path p generate new virtual nodes and split faces


Summary
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Summary
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Summary
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Shortest Path in the Dual Graph

k+1
k+1
Summary
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Improve with parallel substructures

Problem: for some edges the graph can easily be modied to reduce number of crossings if the 2 vertices of the edge are in different blocks of a parallel substructure switch the order to decrease number of crossings

Summary
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SPQR-tree

Spring Embedder
s e t
(a) trivial case (b) parallel case (c) series case (d) rigid case
Simulated Annealing
e e

Summary
Figure : the four different types of nodes in a SPQR-tree
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SPQR-tree
b a d c e g n f h l k m i o j p


Summary
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SPQR-tree
a

a c d f h k
b e g n i l j m
f d e h h h h h k l m m h j h d
d e e e
c e
e e n n j j j i j j n n n

Summary
o p
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SPQR-trees
a d d d f h h h h h k l m m j h i h j j j j j e e e n n n o p e n e c e e g n b

R P S P R S P S S P R P S

Summary
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SPQR-trees
a d f h k l b c e g n i j m R S P S o p R P S P S P R P S


Summary
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SPQR-trees
g e d b c a f i h l j k m n R o P p S P R S P S S P R P S


Summary
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Orthogonal Drawing
(E ) for each edge e E is a set of orthogonal lines (v ) for each vertex v V is a point in R2 Denition We call an orthogonal planar drawing of G if 1. v , w V : (v ) = (w V ) w = v (invective) 2. e = (v , w ) E : (v ), (w ) are endpoints of (e) 3. e1 , e2 E : e1 = e2 (e1 ), (e2 ) only intersect at a point (v ) of a common vertex v (if exists)


Summary
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Orthogonal Drawing


Orthogonal Drawing
two different planar orthogonal representations , of the same Graph G, but with a different number of edges and the same faces
MinCostFlow-Problem
Summary
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Bend Minimization as MinCostFlow-Problem

If we have a planar representation of a planar Graph, keeping the the same faces we can minimize the number of bends with solving a minimum cost ow problem.
Dual graph SPQR-tree

Summary
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Bend Minimization as MinCostFlow-Problem

Denition A min-cost ow network N = (D , u , l , b, c ) consists of directed (multi-)graph D = (W , A) capacities u : A N0 {}, l : A Z node demands b : W Z costs c : A N0 . f : A N0 is a ow on N if l (a ) f (a ) u (a ) b(v ) = (v ,w )A f (v , w ) v W (b (v ) = 0) f is a min-cost-ow if


Summary
(w ,v )A f (w , v )
aA c (a)f (a)
is minimal.
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Dene the ow network for the problem

node demands & capacities

v4
v5
Spring Embedder
(v5 , v3 ) = 2 (v3 , v5 ) = 2; (v5 , v3 ) = 1;
Simulated Annealing
v1
v2
v3 (v3 , v5 ) = 1

dene labels (v , w ), (v , w ) for each edge (v , w ) in G: : (v , w ) E #of L-bends in ((v , w )) : (v , wi ) E betw. ((v , wi ))and((v , wi +1 ))
Summary
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node demands & capacities

Remember: We want to minimize the total number of bends on edges in the drawing (G). The total number is (v ,w )E (v , w ) + (w , v ). So the goal is: minimize (v ,w )E (v , w ) + (w , v ) 1 1 2 1 1 1 2 1 1 1

Summary
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Theorem The sum of angles(at vertices or bends) around an inner/outer face f F is: (deg(f ) + #bends 2) This implies: ((v , w ) + (w , v ) (v , w )) = 2 deg(f ) 4
(v ,w )E (f )

Summary
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Challenges
((v , w ) + (w , v ) (v , w )) = 2 deg(f ) 4
(v ,w )E (f )
Types of drawings
1 1 1 1 1 2 1

Summary
Let the face-to-face edges (producers of bends on an edge) get edges in the ow networks with costs 1
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The directed (multi-) Graph DG
DG = (W , A) with W = V F consists DF as the face-induced subgraph of F by (G)

demands in the ow-network N : 2 deg(x ) 4 , x F (inner / outer face) b(x ) = : 4 ,x V capacities: e A : u (e) = ; e AF : l (e) = 0; e AF : l (e) = 1 costs: eF AF : c (eF ) = 1; e AF : c (e) = 0
Summary
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Assign ow
Given a ow f : E N f (v , fv ,w ): angle() at node v in face fv ,w left of (v , w ) f (f1 , f2 )e : #LeftBends ( ) on the edge (f1 , f2 )e between the faces f1 and f2 A ow f is a valid model for a valid drawing if: for all nodes v : b(v ) = for all faces f :
( (v , w ) + (w , v ) (v , w )) = 2 deg(f ) 4
(v ,w )E (f )

(v ,w )E
f (v , w ) = 4

Summary
inow outow
A valid ow implies a valid graph representation A cost-minimal ow implies a bend-minimal graph representation
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Assign ow
( (v , w ) + (w , v ) (v , w )) = 2 deg(f ) 4
(v ,w )E (f )

(v ,w )E
f (v , w ) = 4

Summary
inow outow
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Assign ow
( (v , w ) + (w , v ) (v , w )) = 2 deg(f ) 4
(v ,w )E (f )

(v ,w )E
f (v , w ) = 4

Summary
inow outow
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Existence of a valid ow: Inow=Outow

!

Challenges
to proof:
v W
b(v ) = 0 b(v ) + b (f )
f F
Types of drawings
b (v ) =
v W v V
= |V |4 +
(2 deg f + 4) 2 deg fo 4
f F \{fo }
= |V |4 + (|F| 2)4 2
f F
(deg f )

= |V |4 + (|F| 2)4 4|E | = 4(|V | + |F| |E | 2) = 0
Summary
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Bend Minimization
example

-14 3 -4 3 2 1 2 -2 3 3 -4 2 3 2
-14 1 -2 2 3

Summary
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Summary
graph drawing is a wide area with many problems most problems are N P hard problems depend on the type of drawings and the slected criterias good approximation is possible for many problems combination of algorithms may be possible there exists many tools for graph drawing
1. 2. 3. 4. yEd GraphViz Gephi Tulip


Summary
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GraphViz
example

Challenges
circo-layout:
twopi-layout:
graph G{ 2 node[label=""]; 3 a1 -- a2; a1 -4 a1 -- a4; 5 a1 -- a5; a1 -6 a2 -- a3; a2 -7 a2 -- a5; a2 -8 a3 -- a4; a3 -9 a3 -- a6; 10 a4 -- a5; a4 -11 a5 -- a6; 12}
1
Types of drawings
a3; a6; a4; a6; a5; a6;

Summary
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yEd


Summary
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Presentation 7-02-13 Graph Drawing

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Graph Drawing Malte Skambath Introduction

Challenges Types of drawings

Dual graph SPQR-tree

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Introduction Force-directed approach Crossing Minimization Orthogonal Bend Minimization Summary

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

How to draw nice graphs?

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Drawing should represents special properties

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

(17) 9 ibis Hotel An der 7 12 Stadt3 freiheit 21

Torneiweg Bun we Luisenstr. BurgtorHanse friedhof Reside

Orthogonal Bend Minimization

Walkm hlenweg Bei der en Gasanstalt en Zeistr

Verwaltungszentrum Mhlentor Theodor-HeussSt

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Advantages & Disadvantages

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

1 d (ni , nj ) dbord (n)

distribution border dist. edge length edge crossings edge-distance

Orthogonal Bend Minimization

Neighborhood & energy function

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

R. Davidson, D. Harel Drawing Graphs Nicely Using Simulated Annealing, 1996

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Maximal planar subgraph

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Insert non-planar edge with min. crossings

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Insert non-planar edge with min. crossings

Graph Drawing Malte Skambath Introduction

Orthogonal Bend Minimization

Insert non-planar edge with min. crossings