Abstract Tanglegrams are drawings of two rooted binary phylogenetic trees and a matching between their leaf sets. The trees are drawn crossing-free on opposite sides with their leaf sets facing each other on two vertical lines. Instead of minimizing the number of pairwise edge crossings, we consider the problem of minimizing the number of block crossings , that is, two bundles of edges crossing each other locally. With one tree fixed, the leaves of the second tree can be permuted according to its tree structure. We give a complete picture of the algorithmic complexity of minimizing block crossings in one-sided tanglegrams by showing -completeness, 2.25-approximations, and a fixed-parameter algorithm with the parameter being the number of block crossings of the computed tanglegram. We also state results for non-binary trees.

Orthogonal graph layout algorithms aim to produce clear, compact, and readable network diagrams by arranging nodes and edges along horizontal and vertical lines, while minimizing bends and crossings. Most existing orthogonal layout methods focus primarily on quality criteria such as area usage, total edge length, and bend minimization. Explicitly controlling the global aspect ratio (AR) of the resulting layout is as of now unexplored. Existing orthogonal layout methods offer no control over the resulting AR and their rigid geometric constraints make adaptation of finished layouts difficult. With the increasing variety of aspect ratios encountered in daily life, from wide monitors to tall mobile devices or fixed-size interface panels, there is a clear need for aspect ratio control in orthogonal layout methods. To tackle this issue, we introduce Aspect Ratio-Constrained Orthogonal Layout (ARCOL). Building upon the Human-like Orthogonal Layout Algorithm (HOLA)~\cite{Kieffer2016}, we integrate aspect ratio at two different stages: (1) into the stress minimization phase, as a soft constraint, allowing the layout algorithm to gently guide node positions toward a specified target AR, while preserving visual clarity and topological faithfulness; and (2) into the tree reattachment phase, where we modify the cost function to favor placements that improve the AR. We evaluate our approach through quantitative evaluation and a user study, as well as expert interviews. Our evaluations show that ARCOL produces balanced and space efficient orthogonal layouts across diverse aspect ratios.

Abstract A fundamental question is whether one can maintain a maximum independent set in polylogarithmic update time for a dynamic collection of geometric objects in Euclidean space. Already, for a set of intervals, it is known that no dynamic algorithm can maintain an exact maximum independent set in sublinear update time. Therefore, the typical objective is to explore the trade-off between update time and solution size. Substantial efforts have been made in recent years to understand this question for various families of geometric objects, such as intervals, hypercubes, hyperrectangles, and fat objects. We present the first fully dynamic approximation algorithm for disks of arbitrary radii in the plane that maintains a constant-factor approximate maximum independent set in polylogarithmic expected amortized update time. Moreover, for a fully dynamic set of n disks of unit radius in the plane, we show that a 12-approximate maximum independent set can be maintained with worst-case update time $$O(\log n)$$ O ( log n ) , and optimal output-sensitive reporting. This result generalizes to fat objects of comparable sizes in any fixed dimension d , where the approximation ratio depends on the dimension and the fatness parameter. Further, we note that, even for a dynamic set of disks of unit radius in the plane, it is impossible to maintain $$O(1+\varepsilon )$$ O ( 1 + ε ) -approximate maximum independent set in truly sublinear update time, under standard complexity assumptions. Our results build on two recent technical tools: (i) The MIX algorithm by Cardinal et al. (2021) that can smoothly transition from one independent set to another; hence it suffices to maintain a family of independent sets where the largest one is a constant-factor approximation of a maximum independent set. (ii) A dynamic nearest/farthest neighbor data structure for disks by Kaplan et al. (2020) and Liu (2022), which generalizes the dynamic convex hull data structure by Chan (2010), and allows us to quickly find a “replacement” disk (if any) when a disk in one of our independent sets is deleted.

Storyline visualizations represent character interactions over time. When these characters belong to different groups, a new research question emerges: how can we balance optimization of readability across the groups while preserving the overall narrative structure of the story? Traditional algorithms that optimize global readability metrics (like minimizing crossings) can introduce quality biases between the different groups based on their cardinality and other aspects of the data. Visual consequences of these biases are: making characters of minority groups disproportionately harder to follow, and visually deprioritizing important characters when their curves become entangled with numerous secondary characters. We present F2Stories, a modular framework that addresses these challenges in storylines by offering three complementary optimization modes: (1) fairnessMode ensures that no group bears a disproportionate burden of visualization complexity regardless of their representation in the story; (2) focusMode allows prioritizing a group of characters while maintaining good readability for secondary characters; and (3) standardMode globally optimizes classical aesthetic metrics. Our approach is based on Mixed Integer Linear Programming (MILP), offering optimality guarantees, precise balancing of competing metrics through weighted objectives, and the flexibility to incorporate complex fairness concepts as additional constraints without the need to redesign the entire algorithm. We conducted an extensive experimental analysis to demonstrate how F2Stories enables more fair or focus group-prioritized storyline visualizations while maintaining adherence to established layout constraints. Our evaluation includes comprehensive results from a detailed case study that shows the effectiveness of our approach in real-world narrative contexts. An open access copy of this paper and all supplemental materials are available at osf.io/e2qvy.

A witness drawing of a graph is a visualization that clearly shows a given property of a graph. We study and implement various drawing paradigms for witness drawings to clearly show that graphs have bounded pathwidth or treewidth. Our approach draws the tree decomposition or path decomposition as a tree of bags, with induced subgraphs shown in each bag, and with "tracks" for each graph vertex connecting its copies in multiple bags. Within bags, we optimize the vertex layout to avoid crossings of edges and tracks. We implement a visualization prototype for crossing minimization using dynamic programming for graphs of small width and heuristic approaches for graphs of larger width. We introduce a taxonomy of drawing styles, which render the subgraph for each bag as an arc diagram with one or two pages or as a circular layout with straight-line edges, and we render tracks either with straight lines or with orbital-radial paths.

A storyline visualization shows interactions between characters over time. Each character is represented by an x-monotone curve. Time is mapped to the x-axis, and groups of characters that interact at a particular point t in time must be ordered consecutively in the y-dimension at x = t. The predominant objective in storyline optimization so far has been the minimization of crossings between (blocks of) characters. Building on this work, we investigate another important, but less studied quality criterion, namely the minimization of wiggle, i.e., the amount of vertical movement of the characters over time. Given a storyline instance together with an ordering of the characters at any point in time, we show that wiggle count minimization is NP-complete. In contrast, we provide algorithms based on mathematical programming to solve linear wiggle height minimization and quadratic wiggle height minimization efficiently. Finally, we introduce a new method for routing character curves that focuses on keeping distances between neighboring curves constant as long as they run in parallel. We have implemented our algorithms, and we conduct a case study that explores the differences between the three optimization objectives. We use existing benchmark data, but we also present a new use case for storylines, namely the visualization of rolling stock schedules in railway operation.

A storyplan visualizes a graph G = (V,E) as a sequence of 𝓁 frames Γ₁, … , Γ_𝓁, each of which is a drawing of the induced subgraph G[V_i] of a vertex subset V_i ⊆ V. Moreover, each vertex v ∈ V is contained in a single consecutive sequence of frames Γ_i, … , Γ_j, all vertices and edges contained in consecutive frames are drawn identically, and the union of all frames is a drawing of G. In GD 2022, the concept of planar storyplans was introduced, in which each frame must be a planar (topological) drawing. Several (parameterized) complexity results for recognizing graphs that admit a planar storyplan were provided, including NP-hardness. In this paper, we investigate an open question posed in the GD paper and show that the geometric and topological settings of the planar storyplan problem differ: We provide an instance of a graph that admits a planar storyplan, but no planar geometric storyplan, in which each frame is a planar straight-line drawing. Still, by adapting the reduction proof from the topological to the geometric setting, we show that recognizing the graphs that admit planar geometric storyplans remains NP-hard.

We introduce a quantum dynamic programming framework that allows us to directly extend to the quantum realm a large body of classical dynamic programming algorithms. The corresponding quantum dynamic programming algorithms retain the same space complexity as their classical counterpart, while achieving a computational speedup. For a combinatorial (search or optimization) problem P and an instance I of P, such a speedup can be expressed in terms of the average degree δ of the dependency digraph GP(I) of I, determined by a recursive formulation of P. The nodes of this graph are the subproblems of P induced by I and its arcs are directed from each subproblem to those on whose solution it relies. In particular, our framework allows us to solve the considered problems in Õ(|V (GP(I))|√δ) time. As an example, we obtain a quantum version of the Bellman-Ford algorithm for computing shortest paths from a single source vertex to all the other vertices in a weighted n-vertex digraph with m edges that runs in Õ(n√nm) time, which improves the best known classical upper bound when m ∈ Ω(n1.4).

Stacked area charts are a widely used visualization technique for numerical time series. The x-axis represents time, and the time series are displayed as horizontal, variable-height layers stacked on top of each other. The height of each layer corresponds to the time series values at each time point. The main aesthetic criterion for optimizing the readability of stacked area charts is the amount of vertical change of the borders between the time series in the visualization, called wiggle. While many heuristic algorithms have been developed to minimize wiggle, the computational complexity of minimizing wiggle has not been formally analyzed. In this paper, we show that different variants of wiggle minimization are NP-hard and even hard to approximate. We also present an exact mixed-integer linear programming formulation and compare its performance with a state-of-the-art heuristic in an experimental evaluation. Lastly, we consider a special case of wiggle minimization that corresponds to the fundamentally interesting and natural problem of ordering a set of numbers as to minimize their sum of absolute prefix sums. We show several complexity results for this problem that imply some of the mentioned hardness results for wiggle minimization.

Biological networks describe complex relationships in biological systems, which represent biological entities as vertices and their underlying connectivity as edges. Ideally, for a complete analysis of such systems, domain experts need to visually integrate multiple sources of heterogeneous data , and visually, as well as numerically, probe said data in order to explore or validate (mechanistic) hypotheses. Such visual analyses require the coming together of biological domain experts, bioinformaticians, as well as network scientists to create useful visualization tools. Owing to the underlying graph data becoming ever larger and more complex, the visual representation of such biological networks has become challenging in its own right. This introduction and survey aims to describe the current state of biological network visualization in order to identify scientific gaps for visualization experts, network scientists, bioinformaticians, and domain experts, such as biologists, or biochemists, alike. Specifically, we revisit the classic visualization pipeline, upon which we base this paper’s taxonomy and structure, which in turn forms the basis of our literature classification. This pipeline describes the process of visualizing data, starting with the raw data itself, through the construction of data tables, to the actual creation of visual structures and views, as a function of task-driven user interaction. Literature was systematically surveyed using API-driven querying where possible, and the collected papers were manually read and categorized based on the identified sub-components of this visualization pipeline’s individual steps. From this survey, we highlight a number of exemplary visualization tools from multiple biological sub-domains in order to explore how they adapt these discussed techniques and why. Additionally, this taxonomic classification of the collected set of papers allows us to identify existing gaps in biological network visualization practices. We finally conclude this report with a list of open challenges and potential research directions. Examples of such gaps include (i) the overabundance of visualization tools using schematic or straight-line node-link diagrams, despite the availability of powerful alternatives, or (ii) the lack of visualization tools that also integrate more advanced network analysis techniques beyond basic graph descriptive statistics.

Abstract Biofabric is a novel method for network visualization, with promising potential to highlight specific network features. Recent studies emphasize the importance of staircase motifs — equivalent to fans or stars in node‐link diagrams — within Biofabric. However, to effectively showcase these motifs, we need to formulate specialized layout algorithms. This paper introduces a method to compute optimal layouts for Biofabric, focusing on maximizing staircase formation. We present an Integer Linear Programming (ILP) model for this task and evaluate its performance in terms of scalability and output quality against a leading heuristic method, Degreecending. Our results demonstrate that the ILP approach identifies significantly more, and often longer, staircases compared to Degreecending, albeit with the trade‐off of higher computation times. Our supplemental material, including a full copy of the paper, code, and results, is available on osf.io.

Boundary labeling is a technique in computational geometry used to label sets of features in an illustration. It involves placing labels along an axis-parallel bounding box and connecting each label with its corresponding feature using non-crossing leader lines. Although boundary labeling is well-studied, semantic constraints on the labels have not been investigated thoroughly. In this paper, we introduce grouping and ordering constraints in boundary labeling: Grouping constraints enforce that all labels in a group are placed consecutively on the boundary, and ordering constraints enforce a partial order over the labels. We show that it is NP -hard to find a labeling for arbitrarily sized labels with unrestricted positions along one side of the boundary. However, we obtain polynomial-time algorithms if we restrict this problem either to uniform-height labels or to a finite set of candidate positions. Furthermore, we show that finding a labeling on two opposite sides of the boundary is NP -complete, even for uniform-height labels and finite label positions. Finally, we experimentally confirm that our approach has also practical relevance.

Motivated by the need for decision-making systems that avoid bias and discrimination, the concept of fairness recently gained traction in the broad field of artificial intelligence , stimulating new research also within the information visualization community. In this paper, we introduce a notion of fairness in network visualization, specifically for orthogonal and for straight-line drawings of graphs, two foundational paradigms in the field. We investigate the following research questions: (i) What is the price, in terms of global readability , of incorporating fairness constraints in graph drawings? (ii) How unfair is a graph drawing that does not optimize fairness as a primary objective ? We present both theoretical and empirical results. In particular, we design and implement two optimization algorithms for multi-objective functions, one based on an ILP model for orthogonal drawings, and one based on gradient descent for straight-line drawings. In a nutshell, we experimentally show that it is possible to significantly increase the fairness of a drawing by paying a relatively small amount in terms of reduced global readability. Also, we present a use case in which we qualitatively evaluate our approach on a practical scenario.

Edge bundling algorithms can significantly improve the visualization of dense graphs by identifying and bundling together suitable groups of edges and thus reducing visual clutter. As such, bundling is often viewed as a post-processing step applied to a drawing, and the vast majority of edge bundling algorithms consider a graph and its drawing as input. A different way of thinking about edge bundling is to simultaneously optimize both the drawing and the bundling, which we investigate in this paper. We build on an earlier work where we introduced a novel algorithmic framework for bundling-aware graph drawing consisting of three main steps, namely Filter for a skeleton subgraph, Draw the skeleton, and Bundle the remaining edges against the drawing of the skeleton. We propose several alternative implementations and experimentally compare them against each other and the simple idea of first drawing the full graph and subsequently applying edge bundling to it. The experiments confirm that bundled drawings created by our Filter-Draw-Bundle framework outperform previous approaches according to metrics for edge bundling and graph drawing.

A fundamental question is whether one can maintain a maximum independent set (MIS) in polylogarithmic update time for a dynamic collection of geometric objects in Euclidean space. For a set of intervals, it is known that no dynamic algorithm can maintain an exact MIS in sublinear update time. Therefore, the typical objective is to explore the trade-off between update time and solution size. Substantial efforts have been made in recent years to understand this question for various families of geometric objects, such as intervals, hypercubes, hyperrectangles, and fat objects. We present the first fully dynamic approximation algorithm for disks of arbitrary radii in the plane that maintains a constant-factor approximate MIS in polylogarithmic expected amortized update time. Moreover, for a fully dynamic set of n unit disks in the plane, we show that a 12-approximate MIS can be maintained with worst-case update time O(log n), and optimal output-sensitive reporting. This result generalizes to fat objects of comparable sizes in any fixed dimension d, where the approximation ratio depends on the dimension and the fatness parameter. Further, we note that, even for a dynamic set of disks of unit radius in the plane, it is impossible to maintain O(1+ε)-approximate MIS in truly sublinear update time, under standard complexity assumptions. Our results build on two recent technical tools: (i) The MIX algorithm by Cardinal et al. (ESA 2021) that can smoothly transition from one independent set to another; hence it suffices to maintain a family of independent sets where the largest one is an O(1)-approximate MIS. (ii) A dynamic nearest/farthest neighbor data structure for disks by Kaplan et al. (DCG 2020) and Liu (SICOMP 2022), which generalizes the dynamic convex hull data structure by Chan (JACM 2010), and quickly yields a "replacement" disk (if any) when a disk in one of our independent sets is deleted.

Boundary labeling is a well-known method for displaying short textual labels for a set of point features in a figure alongside the boundary of that figure. Labels and their corresponding points are connected via crossing-free leaders. We propose orbital boundary labeling as a new variant of the problem, in which (i) the figure is enclosed by a circular contour and (ii) the labels are placed as disjoint circular arcs in an annulus-shaped orbit around the contour. The algorithmic objective is to compute an orbital boundary labeling with the minimum total leader length. We identify several parameters that define the corresponding problem space: two leader types (straight or orbital-radial), label size and order, presence of candidate label positions, and constraints on where a leader attaches to its label. Our results provide polynomial-time algorithms for many variants and NP-hardness for others, using a variety of geometric and combinatorial insights.

Storyline drawings are a popular visualization of interactions of a set of characters over time, e.g., to show participants of scenes in a book or movie. Characters are represented as $x$-monotone curves that converge vertically for interactions and diverge otherwise. Combinatorially, the task of computing storyline drawings reduces to finding a sequence of permutations of the character curves for the different time points, with the primary objective being crossing minimization of the induced character trajectories. In this paper, we revisit exact integer linear programming (ILP) approaches for this NP-hard problem. By enriching previous formulations with additional problem-specific insights and new heuristics, we obtain exact solutions for an extended new benchmark set of larger and more complex instances than had been used before. Our experiments show that our enriched formulations lead to better performing algorithms when compared to state-of-the-art modelling techniques. In particular, our best algorithms are on average 2.6-3.2 times faster than the state-of-the-art and succeed in solving complex instances that could not be solved before within the given time limit. Further, we show in an ablation study that our enrichment components contribute considerably to the performance of the new ILP formulation.

Boundary labeling is a technique in computational geometry used to label sets of features in an illustration. It involves placing labels along an axis-parallel bounding box and connecting each label with its corresponding feature using non-crossing leader lines. Although boundary labeling is well-studied, semantic constraints on the labels have not been investigated thoroughly. In this paper, we introduce grouping and ordering constraints in boundary labeling: Grouping constraints enforce that all labels in a group are placed consecutively on the boundary, and ordering constraints enforce a partial order over the labels. We show that it is NP-hard to find a labeling for arbitrarily sized labels with unrestricted positions along one side of the boundary. However, we obtain polynomial-time algorithms if we restrict this problem either to uniform-height labels or to a finite set of candidate positions. Furthermore, we show that finding a labeling on two opposite sides of the boundary is NP-complete, even for uniform-height labels and finite label positions. Finally, we experimentally confirm that our approach has also practical relevance.

Abstract Temporal trees are trees that evolve over a discrete set of time steps. Each time step is associated with a node‐weighted rooted tree and consecutive trees change by adding new nodes, removing nodes, splitting nodes, merging nodes, and changing node weights. Recently, two‐dimensional visualizations of temporal trees called temporal treemaps have been proposed, representing the temporal dimension on the x‐axis, and visualizing the tree modifications over time as temporal edges of varying thickness. The tree hierarchy at each time step is depicted as a vertical, one‐dimensional nesting relationships, similarly to standard, non‐temporal treemaps. Naturally, temporal edges can cross in the visualization, decreasing readability. Heuristics were proposed to minimize such crossings in the literature, but a formal characterization and minimization of crossings in temporal treemaps was left open. In this paper, we propose two variants of defining crossings in temporal treemaps that can be combinatorially characterized. For each variant, we propose an exact optimization algorithm based on integer linear programming and heuristics based on graph drawing techniques. In an extensive experimental evaluation, we show that on the one hand the exact algorithms reduce the number of crossings by a factor of 20 on average compared to the previous algorithms. On the other hand, our new heuristics are faster by a factor of more than 100 and still reduce the number of crossings by a factor of almost three.

We study the problem of representing a graph as a storyplan, a recently introduced model for dynamic graph visualization. It is based on a sequence of frames, each showing a subset of vertices and a planar drawing of their induced subgraphs, where vertices appear and disappear over time. Namely, in the StoryPlan problem, we are given a graph and we want to decide whether there exists a total vertex appearance order for which a storyplan exists. We prove that the problem is NP-complete, and complement this hardness with two parameterized algorithms, one in the vertex cover number and one in the feedback edge set number of the input graph. We prove that partial 3-trees always admit a storyplan, which can be computed in linear time. Finally, we show that the problem remains NP-complete if the vertex appearance order is given and we have to choose how to draw the frames.

The task of finding an extension to a given partial drawing of a graph while adhering to constraints on the representation has been extensively studied in the literature, with well-known results providing efficient algorithms for fundamental representations such as planar and beyond-planar topological drawings. In this paper, we consider the extension problem for bend-minimal orthogonal drawings of planar graphs, which is among the most fundamental geometric graph drawing representations. While the problem was known to be NP-hard, it is natural to consider the case where only a small part of the graph is still to be drawn. Here, we establish the fixed-parameter tractability of the problem when parameterized by the size of the missing subgraph. Our algorithm is based on multiple novel ingredients which intertwine geometric and combinatorial arguments. These include the identification of a new graph representation of bend-equivalent regions for vertex placement in the plane, establishing a bound on the treewidth of this auxiliary graph, and a global point-grid that allows us to discretize the possible placement of bends and vertices into locally bounded subgrids for each of the above regions.

Word clouds are a popular text visualization technique that summarize an input text by displaying its most important words in a compact image. The traditional layout methods do not take proximity effects between words into account; this has been improved in semantic word clouds, where relative word placement is controlled by edges in a word similarity graph. We introduce MySemCloud, a new human-in-the-loop tool to visualize and edit semantic word clouds. MySemCloud lets users perform computer-assisted local moves of words, which improve or at least retain the semantic quality. To achieve this, we construct a word similarity graph on which a system of forces is applied to generate a compact initial layout with good semantic quality. The force system also allows us to maintain these attributes after each user interaction, as well as preserve the user’s mental map. The tool provides algorithmic support for the editing operations to help the user enhance the semantic quality of the visualization, while adjusting it to their personal preference. We show that MySemCloud provides high user satisfaction as well as permits users to create layouts of higher quality than state-of-the-art semantic word cloud generation tools.

Abstract Edge‐Path bundling is a recent edge bundling approach that does not incur ambiguities caused by bundling disconnected edges together. Although the approach produces less ambiguous bundlings, it suffers from high computational cost. In this paper, we present a new Edge‐Path bundling approach that increases the computational speed of the algorithm without reducing the quality of the bundling. First, we demonstrate that biconnected components can be processed separately in an Edge‐Path bundling of a graph without changing the result. Then, we present a new edge bundling algorithm that is based on observing and exploiting a strong relationship between Edge‐Path bundling and graph spanners. Although the worst case complexity of the approach is the same as of the original Edge‐Path bundling algorithm, we conduct experiments to demonstrate that the new approach is 5–256 times faster than Edge‐Path bundling depending on the dataset, which brings its practical running time more in line with traditional edge bundling algorithms.

We consider the problem of untangling a given (non-planar) straight-line circular drawing δG of an outerplanar graph G=(V,E) into a planar straight-line circular drawing of G by shifting a minimum number of vertices to a new position on the circle. For an outerplanar graph G, it is obvious that such a crossing-free circular drawing always exists and we define the circular shifting number shift∘(δG) as the minimum number of vertices that are required to be shifted in order to resolve all crossings of δG. We show that the problem Circular Untangling, asking whether shift∘(δG)≤K for a given integer K, is NP-complete. For n-vertex outerplanar graphs, we obtain a tight upper bound of shift∘(δG)≤n−⌊n−2⌋−2. Moreover, we study the Circular Untangling for almost-planar circular drawings, in which a single edge is involved in all of the crossings. For this problem, we provide a tight upper bound shift∘(δG)≤⌊n2⌋−1 and present an O(n2)-time algorithm to compute the circular shifting number of almost-planar drawings.

Visualizing sets of elements and their relations is an important research area in information visualization. In this paper, we present MosaicSets: a novel approach to create Euler-like diagrams from non-spatial set systems such that each element occupies one cell of a regular hexagonal or square grid. The main challenge is to find an assignment of the elements to the grid cells such that each set constitutes a contiguous region. As use case, we consider the research groups of a university faculty as elements, and the departments and joint research projects as sets. We aim at finding a suitable mapping between the research groups and the grid cells such that the department structure forms a base map layout. Our objectives are to optimize both the compactness of the entirety of all cells and of each set by itself. We show that computing the mapping is NP-hard. However, using integer linear programming we can solve real-world instances optimally within a few seconds. Moreover, we propose a relaxation of the contiguity requirement to visualize otherwise non-embeddable set systems. We present and discuss different rendering styles for the set overlays. Based on a case study with real-world data, our evaluation comprises quantitative measures as well as expert interviews.

Linear diagrams are used to visualize set systems by depicting set memberships as horizontal line segments in a matrix, where each set is represented as a row and each element as a column. Each such line segment of a set is shown in a contiguous horizontal range of cells of the matrix indicating that the corresponding elements in the columns belong to the set. As each set occupies its own row in the matrix, the total height of the resulting visualization is as large as the number of sets in the instance. Such a linear diagram can be visually sparse and intersecting sets containing the same element might be represented by distant rows. To alleviate such undesirable effects, we present LinSets.zip, a new approach that achieves a more space-efficient representation of linear diagrams. First, we minimize the total number of gaps in the horizontal segments by reordering columns, a criterion that has been shown to increase readability in linear diagrams. The main difference of LinSets.zip to linear diagrams is that multiple non-intersecting sets can be positioned in the same row of the matrix. Furthermore, we present several different rendering variations for a matrix-based representation that utilize the proposed row compression. We implemented the different steps of our approach in a visualization pipeline using integer-linear programming, and suitable heuristics aiming at sufficiently fast computations in practice. We conducted both a quantitative evaluation and a small-scale user experiment to compare the effects of compressing linear diagrams.

We study a variant of the geometric multicut problem, where we are given a set $\mathcal{P}$ of colored and pairwise interior-disjoint polygons in the plane. The objective is to compute a set of simple closed polygon boundaries (fences) that separate the polygons in such a way that any two polygons that are enclosed by the same fence have the same color, and the total number of links of all fences is minimized. We call this the minimum link fencing (MLF) problem and consider the natural case of bounded minimum link fencing (BMLF), where $\mathcal{P}$ contains a polygon $Q$ that is unbounded in all directions and can be seen as an outer polygon. We show that BMLF is NP-hard in general and that it is XP-time solvable when each fence contains at most two polygons and the number of segments per fence is the parameter. Finally, we present an $O(n \log n)$-time algorithm for the case that the convex hull of $\mathcal{P} \setminus \{Q\}$ does not intersect $Q$.

Metro or transit maps, are schematic representations of transit networks to facilitate effective route-finding. These maps are often advertised on a web page or pamphlet highlighting routes from source to destination stations. To visually support such route-finding, designers often distort the layout by embedding symbolic shapes (e.g., circular routes) in order to guide readers' attention (e.g., Moscow map and Japan railway map). However, manually producing such maps is labor-intensive and the effect of shapes remains unclear. In this paper, we propose an approach to generalize such mixed metro maps that take user-defined shapes as an input. In this mixed design, lines that are used to approximate the shapes are arranged symbolically, while the remaining lines follow classical layout convention. A three-step algorithm, including (1) detecting and selecting routes for shape approximation, (2) shape and layout deformation, and (3) aligning lines on a grid, is integrated to guarantee good visual quality. Our contribution lies in the definition of the mixed metro map problem and the formulation of design criteria so that the problem can be resolved systematically using the optimization paradigm. Finally, we evaluate the performance of our approach and perform a user study to test if the embedded shapes are recognizable or reduce the map quality.

In this article, we present an algorithm capable of mixed labeling of 2D and 3D objects. In mixed labeling, the given objects are labeled with both internal labels placed (at least partially) over the objects and external labels placed in the space around the objects and connected with the labeled objects with straight-line leaders. The proposed algorithm determines the position and type of each label based on the user-specified ambiguity threshold and eliminates overlaps between the labels, as well as between the internal labels and the straight-line leaders of external labels. The algorithm is a screen-space technique; it operates in an image where the 2D objects or projected 3D objects are encoded. In other words, we can use the algorithm whenever we can render the objects to an image, which makes the algorithm fit for use in many domains. The algorithm operates in real-time, giving the results immediately. Finally, we present results from an expert evaluation, in which a professional illustrator has evaluated the label layouts produced with the proposed algorithm.

Cartograms are popular for visualizing numerical data for administrative regions in thematic maps. When there are multiple data values per region (over time or from different datasets) shown as animated or juxtaposed cartograms, preserving the viewer's mental map in terms of stability between multiple cartograms is another important criterion alongside traditional cartogram criteria such as maintaining adjacencies. We present a method to compute stable stable Demers cartograms, where each region is shown as a square scaled proportionally to the given numerical data and similar data yield similar cartograms. We enforce orthogonal separation constraints using linear programming, and measure quality in terms of keeping adjacent regions close (cartogram quality) and using similar positions for a region between the different data values (stability). Our method guarantees the ability to connect most lost adjacencies with minimal-length planar orthogonal polylines. Experiments show that our method yields good quality and stability on multiple quality criteria.

Edge bundling techniques cluster edges with similar attributes (i.e. similarity in direction and proximity) together to reduce the visual clutter. All edge bundling techniques to date implicitly or explicitly cluster groups of individual edges, or parts of them, together based on these attributes. These clusters can result in ambiguous connections that do not exist in the data. Confluent drawings of networks do not have these ambiguities, but require the layout to be computed as part of the bundling process. We devise a new bundling method, Edge-Path bundling, to simplify edge clutter while greatly reducing ambiguities compared to previous bundling techniques. Edge-Path bundling takes a layout as input and clusters each edge along a weighted, shortest path to limit its deviation from a straight line. Edge-Path bundling does not incur independent edge ambiguities typically seen in all edge bundling methods, and the level of bundling can be tuned through shortest path distances, Euclidean distances, and combinations of the two. Also, directed edge bundling naturally emerges from the model. Through metric evaluations, we demonstrate the advantages of Edge-Path bundling over other techniques.

We present a multi-level area balancing technique for laying out clustered graphs to facilitate a comprehensive understanding of the complex relationships that exist in various fields, such as life sciences and sociology. Clustered graphs are often used to model relationships that are accompanied by attribute-based grouping information. Such information is essential for robust data analysis, such as for the study of biological taxonomies or educational backgrounds. Hence, the ability to smartly arrange textual labels and packing graphs within a certain screen space is therefore desired to successfully convey the attribute data . Here we propose to hierarchically partition the input screen space using Voronoi tessellations in multiple levels of detail. In our method, the position of textual labels is guided by the blending of constrained forces and the forces derived from centroidal Voronoi cells. The proposed algorithm considers three main factors: (1) area balancing, (2) schematized space partitioning, and (3) hairball management. We primarily focus on area balancing, which aims to allocate a uniform area for each textual label in the diagram. We achieve this by first untangling a general graph to a clustered graph through textual label duplication, and then coupling with spanning-tree-like visual integration. We illustrate the feasibility of our approach with examples and then evaluate our method by comparing it with well-known conventional approaches and collecting feedback from domain experts.

Point feature labeling is a classical problem in cartography and GIS that has been extensively studied for geospatial point data. At the same time, word clouds are a popular visualization tool to show the most important words in text data which has also been extended to visualize geospatial data (Buchin et al. PacificVis 2016).

Abstract In geographic data analysis, one is often given point data of different categories (such as facilities of a university categorized by department). Drawing upon recent research on set visualization, we want to visualize category membership by connecting points of the same category with visual links. Existing approaches that follow this path usually insist on connecting all members of a category, which may lead to many crossings and visual clutter. We propose an approach that avoids crossings between connections of different categories completely. Instead of connecting all data points of the same category, we subdivide categories into smaller, local clusters where needed. We do a case study comparing the legibility of drawings produced by our approach and those by existing approaches. In our problem formulation, we are additionally given a graph G on the data points whose edges express some sort of proximity. Our aim is to find a subgraph G′ of G with the following properties: (i) edges connect only data points of the same category, (ii) no two edges cross, and (iii) the number of connected components (clusters) is minimized. We then visualize the clusters in G′. For arbitrary graphs, the resulting optimization problem, Cluster Minimization, is NP‐hard (even to approximate). Therefore, we introduce two heuristics. We do an extensive benchmark test on real‐world data. Comparisons with exact solutions indicate that our heuristics do astonishing well for certain relative‐neighborhood graphs.

Slanted and curved nonograms are a new type of picture puzzles introduced by Van de Kerkhof et al. (2019). They consist of an arrangement of lines or curves within a frame B, where some of the cells need to be colored in order to obtain the solution picture. For solving the puzzle, up to two clues need to be attached as numeric labels to each line on either side of B. In this paper we study the algorithmic problem of optimizing or deciding the existence of a placement of the given clue labels to such a nonogram. We provide polynomial-time algorithms for restricted cases and prove NP-completeness in general.

We propose MetroSets, a new, flexible online tool for visualizing set systems using the metro map metaphor. We model a given set system as a hypergraph H=(V, S), consisting of a set V of vertices and a set S, which contains subsets of V called hyperedges. Our system then computes a metro map representation of H, where each hyperedge E in S corresponds to a metro line and each vertex corresponds to a metro station. Vertices that appear in two or more hyperedges are drawn as interchanges in the metro map, connecting the different sets. MetroSets is based on a modular 4-step pipeline which constructs and optimizes a path-based hypergraph support, which is then drawn and schematized using metro map layout algorithms. We propose and implement multiple algorithms for each step of the MetroSet pipeline and provide a functional prototype with easy-to-use preset configurations. Furthermore, using several real-world datasets, we perform an extensive quantitative evaluation of the impact of different pipeline stages on desirable properties of the generated maps, such as octolinearity, monotonicity, and edge uniformity.

Set systems are used to model data that naturally arises in many contexts: social networks have communities, musicians have genres, and patients have symptoms. Visualizations that accurately reflect the information in the underlying set system make it possible to identify the set elements, the sets themselves, and the relationships between the sets. In static contexts, such as print media or infographics, it is necessary to capture this information without the help of interactions. With this in mind, we consider three different systems for medium-sized set data, LineSets, EulerView, and MetroSets, and report the results of a controlled human-subjects experiment comparing their effectiveness. Specifically, we evaluate the performance, in terms of time and error, on tasks that cover the spectrum of static set-based tasks. We also collect and analyze qualitative data about the three different visualization systems. Our results include statistically significant differences, suggesting that MetroSets performs and scales better.

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,ℋ) consisting of a graph G, a connected subgraph H of G and a drawing ℋ of H, and the task is to extend 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.

In a fan-planar drawing of a graph an edge can cross only edges with a common end-vertex. In this paper, we study fan-planar drawings that use h (horizontal) layers and are proper, i.e., edges connect adjacent layers. We show that if the embedding of the graph is fixed, then testing the existence of such drawings is fixed-parameter tractable in h, via a reduction to a similar result for planar graphs by Dujmović et al. If the embedding is not fixed, then we give partial results for h = 2: It was already known how to test the existence of fan-planar proper 2-layer drawings for 2-connected graphs, and we show here how to test this for trees. Along the way, we exhibit other interesting results for graphs with a fan-planar proper h-layer drawing; in particular we bound their pathwidth and show that they have a bar-1-visibility representation.

The problem of extending partial geometric graph representations such as plane graphs has received considerable attention in recent years. In particular, given a graph $G$, a connected subgraph $H$ of $G$ and a drawing $\mathcal{H}$ of $H$, the extension problem asks whether $\mathcal{H}$ can be extended into a drawing of $G$ while maintaining some desired property of the drawing (e.g., planarity). In their breakthrough result, Angelini et al. [ACM TALG 2015] showed that the extension problem is polynomial-time solvable when the aim is to preserve planarity. Very recently we considered this problem for partial 1-planar drawings [ICALP 2020], which are drawings in the plane that allow each edge to have at most one crossing. The most important question identified and left open in that work is whether the problem can be solved in polynomial time when $H$ can be obtained from $G$ by deleting a bounded number of vertices and edges. In this work, we answer this question positively by providing a constructive polynomial-time decision algorithm.

Abstract A road map can be interpreted as a graph embedded in the plane, in which each vertex corresponds to a road junction and each edge to a particular road section. In this paper, we consider the computational cartographic problem to place non-overlapping road labels along the edges so that as many road sections as possible are identified by their name, i.e., covered by a label. We show that this is -hard in general, but the problem can be solved in $$O(n^3)$$ O(n3) time if the road map is an embedded tree with n vertices and constant maximum degree. This special case is not only of theoretical interest, but our algorithm in fact provides a very useful subroutine in exact or heuristic algorithms for labeling general road maps.

Abstract We consider map labeling for the case that a map undergoes a sequence of operations such as rotation, zoom and translation over a specified time span. We unify and generalize several previous models for dynamic map labeling into one versatile and flexible model. In contrast to previous research, we completely abstract from the particular operations and express the labeling problem as a set of time intervals representing the labels’ presences, activities and conflicts. One of the model’s strength is manifested in its simplicity and broad range of applications. In particular, it supports label selection both for map features with fixed position as well as for moving entities (e.g., for tracking vehicles in logistics or air traffic control). We study the active range maximization problem in this model. We prove that the problem is -complete and [1]-hard, and present constant-factor approximation algorithms. In the restricted, yet practically relevant case that no more than k labels can be active at any time, we give polynomial-time algorithms as well as constant-factor approximation algorithms.

Transit maps are designed to present information for using public transportation systems, such as urban railways. Creating a transit map is a time-consuming process, which requires iterative information selection, layout design, and usability validation, and thus maps cannot easily be customised or updated frequently. To improve this, scientists investigate fully- or semi-automatic techniques in order to produce high quality transit maps using computers and further examine their corresponding usability. Nonetheless, the quality gap between manually-drawn maps and machine-generated maps is still large. To elaborate the current research status, this state-of-the-art report provides an overview of the transit map generation process, primarily from Design, Machine, and Human perspectives. A systematic categorisation is introduced to describe the design pipeline, and an extensive analysis of perspectives is conducted to support the proposed taxonomy. We conclude this survey with a discussion on the current research status, open challenges, and future directions.

A $k$-page book embedding of a graph $G$ draws the vertices of $G$ on a line and the edges on $k$ half-planes (called pages) bounded by this line, such that no two edges on the same page cross. We study the problem of determining whether $G$ admits a $k$-page book embedding both when the linear order of the vertices is fixed, called ${\rm F{\small IXED}-O{\small RDER}~B{\small OOK}~T{\small HICKNESS}}$, or not fixed, called ${\rm B{\small OOK}~T{\small HICKNESS}}$. Both problems are known to be ${\sf NP}$-complete in general. We show that ${\rm F{\small IXED}-O{\small RDER}~B{\small OOK}~T{\small HICKNESS}}$ and ${\rm B{\small OOK}~T{\small HICKNESS}}$ are fixed-parameter tractable parameterized by the vertex cover number of the graph and that ${\rm F{\small IXED}-O{\small RDER}~B{\small OOK}~T{\small HICKNESS}}$ is fixed-parameter tractable parameterized by the pathwidth of the vertex order.

A strict confluent (SC) graph drawing is a drawing of a graph with vertices as points in the plane, where vertex adjacencies are represented not by individual curves but rather by unique smooth paths through a planar system of junctions and arcs. If all vertices of the graph lie in the outer face of the drawing, the drawing is called a strict outerconfluent (SOC) drawing. SC and SOC graphs were first considered by Eppstein et al. in Graph Drawing 2013. Here, we establish several new relationships between the class of SC graphs and other graph classes, in particular string graphs and unit-interval graphs. Further, we extend earlier results about special bipartite graph classes to the notion of strict outerconfluency, show that SOC graphs have cop number two, and establish that tree-like ($\Delta$-)SOC graphs have bounded cliquewidth.

Label placement in maps is a very challenging task that is critical for the overall map quality. Most previous work focused on designing and implementing fully automatic solutions, but the resulting visual and aesthetic quality has not reached the same level of sophistication that skilled human cartographers achieve. We investigate a different strategy that combines the strengths of humans and algorithms. In our proposed labeling method, first an initial labeling is computed that has many well-placed labels but is not claiming to be perfect. Instead it serves as a starting point for an expert user who can then interactively and locally modify the labeling where necessary. In an iterative human-in-the-loop process alternating between user modifications and local algorithmic updates and refinements the labeling can be tuned to the user's needs.

BACKGROUND: Biological pathways represent chains of molecular interactions in biological systems that jointly form complex dynamic networks. The network structure changes from the significance of biological experiments and layout algorithms often sacrifice low-level details to maintain high-level information, which complicates the entire image to large biochemical systems such as human metabolic pathways. RESULTS: Our work is inspired by concepts from urban planning since we create a visual hierarchy of biological pathways, which is analogous to city blocks and grid-like road networks in an urban area. We automatize the manual drawing process of biologists by first partitioning the map domain into multiple sub-blocks, and then building the corresponding pathways by routing edges schematically, to maintain the global and local context simultaneously. Our system incorporates constrained floor-planning and network-flow algorithms to optimize the layout of sub-blocks and to distribute the edge density along the map domain. We have developed the approach in close collaboration with domain experts and present their feedback on the pathway diagrams based on selected use cases. CONCLUSIONS: We present a new approach for computing biological pathway maps that untangles visual clutter by decomposing large networks into semantic sub-networks and bundling long edges to create space for presenting relationships systematically.

Abstract External labeling is frequently used for annotating features in graphical displays and visualizations, such as technical illustrations, anatomical drawings, or maps, with textual information. Such a labeling connects features within an illustration by thin leader lines with their labels, which are placed in the empty space surrounding the image. Over the last twenty years, a large body of literature in diverse areas of computer science has been published that investigates many different aspects, models, and algorithms for automatically placing external labels for a given set of features. This state‐of‐the‐art report introduces a first unified taxonomy for categorizing the different results in the literature and then presents a comprehensive survey of the state of the art, a sketch of the most relevant algorithmic techniques for external labeling algorithms, as well as a list of open research challenges in this multidisciplinary research field.

Drawing large graphs appropriately is an important step for the visual analysis of data from real-world networks. Here we present a novel multilevel algorithm to compute a graph layout with respect to the maxent-stress metric proposed by Gansner et al. (2013) that combines layout stress and entropy. As opposed to previous work, we do not solve the resulting linear systems of the maxent-stress metric with a typical numerical solver. Instead we use a simple local iterative scheme within a multilevel approach. To accelerate local optimization, we approximate long-range forces and use shared-memory parallelism. Our experiments validate the high potential of our approach, which is particularly appealing for dynamic graphs. In comparison to the previously best maxent-stress optimizer, which is sequential, our parallel implementation is on average 30 times faster already for static graphs (and still faster if executed on a single thread) while producing a comparable solution quality.

The usefulness of technical drawings as well as scientific illustrations such as medical drawings of human anatomy essentially depends on the placement of labels that describe all relevant parts of the figure. In order to not spoil or clutter the figure with text, the labels are often placed around the figure and are associated by thin connecting lines to their features, respectively. This labeling technique is known as external label placement. In this paper we introduce a flexible and general approach for external label placement assuming a contour of the figure prescribing the possible positions of the labels. While much research on external label placement aims for fast labeling procedures for interactive systems, we focus on highest-quality illustrations. Based on interviews with domain experts and a semi-automatic analysis of 202 handmade anatomical drawings, we identify a set of 18 layout quality criteria, naturally not all of equal importance. We design a new geometric label placement algorithm that is based only on the most important criteria. Yet, other criteria can flexibly be included in the algorithm, either as hard constraints not to be violated or as soft constraints whose violation is penalized by a general cost function. We formally prove that our approach yields labelings that satisfy all hard constraints and have minimum overall cost. Introducing several speedup techniques, we further demonstrate how to deploy our approach in practice. In an experimental evaluation on real-world anatomical drawings we show that the resulting labelings are of high quality and can be produced in adequate time.

The increased availability of interactive maps on the Internet and on personal mobile devices has created new challenges in computational cartography and, in particular, for label placement in maps. Operations like rotation, zoom, and translation dynamically change the map over time and make a consistent adaptation of the map labeling necessary.

Pedestrian routing has its specific set of challenges, which are often neglected by state-of-the-art route planners. For instance, the lack of detailed sidewalk data and the inability to traverse plazas and parks in a natural way often leads to unappealing and suboptimal routes. In this work, we first propose to augment the network by generating sidewalks based on the street geometry and adding edges for routing over plazas and squares. Using this and further information, our query algorithm seamlessly handles node-to-node queries and queries whose origin or destination is an arbitrary location on a plaza or inside a park. Our experiments show that we are able to compute appealing pedestrian routes at negligible overhead over standard routing algorithms.

We present a new circular-arc cartogram model in which countries are drawn as polygons with circular arcs instead of straight-line segments. Given a political map and values associated with each country in the map, a cartogram is a distorted map in which the areas of the countries are proportional to the corresponding values. In the circular-arc cartogram model straight-line segments can be replaced by circular arcs in order to modify the areas of the polygons, while the corners of the polygons remain fixed. The countries in circular-arc cartograms have the aesthetically pleasing appearance of clouds or snowflakes, depending on whether their edges are bent outwards or inwards. This makes it easy to determine whether a country has grown or shrunk, just by its overall shape. We show that determining whether a given map and given area-values can be realized as a circular-arc cartogram is an NP-hard problem. Next we describe a heuristic method for constructing circular-arc cartograms, which uses a max-flow computation on the dual graph of the map, along with a computation of the straight skeleton of the underlying polygonal decomposition. Our method is implemented and produces cartograms that, while not yet perfectly accurate, achieve many of the desired areas in our real-world examples.

A binary tanglegram is a drawing of a pair of rooted binary trees whose leaf sets are in one-to-one correspondence; matching leaves are connected by inter-tree edges. For applications, for example, in phylogenetics, it is essential that both trees are drawn without edge crossings and that the inter-tree edges have as few crossings as possible. It is known that finding a tanglegram with the minimum number of crossings is NP-hard and that the problem is fixed-parameter tractable with respect to that number. We prove that under the Unique Games Conjecture there is no constant-factor approximation for binary trees. We show that the problem is NP-hard even if both trees are complete binary trees. For this case we give an O(n 3)-time 2-approximation and a new, simple fixed-parameter algorithm. We show that the maximization version of the dual problem for binary trees can be reduced to a version of MaxCut for which the algorithm of Goemans and Williamson yields a 0.878-approximation.

Boundary labeling deals with placing annotations for objects in an image on the boundary of that image. This problem occurs frequently in situations where placing labels directly in the image is impossible or produces too much visual clutter. Previous algorithmic results for boundary labeling consider a single layer of labels along some or all sides of a rectangular image. If, however, the number of labels is large or labels are too long, multiple layers of labels are needed.

Metro maps are schematic diagrams of public transport networks that serve as visual aids for route planning and navigation tasks. It is a challenging problem in network visualization to automatically draw appealing metro maps. There are two aspects to this problem that depend on each other: the layout problem of finding station and link coordinates and the labeling problem of placing nonoverlapping station labels. In this paper, we present a new integral approach that solves the combined layout and labeling problem (each of which, independently, is known to be NP-hard) using mixed-integer programming (MIP). We identify seven design rules used in most real-world metro maps. We split these rules into hard and soft constraints and translate them into an MIP model. Our MIP formulation finds a metro map that satisfies all hard constraints (if such a drawing exists) and minimizes a weighted sum of costs that correspond to the soft constraints. We have implemented the MIP model and present a case study and the results of an expert assessment to evaluate the performance of our approach in comparison to both manually designed official maps and results of previous layout methods.

In boundary labeling, features on a map are connected to a stack of labels on the map boundary, using simple polylines called leaders. We consider the setting that the labels are axis-aligned non-overlapping rectangles placed on one side of the map, and leaders are rectilinear polylines with at most one bend. The goal is to find a labeling that minimizes the total length of the leaders.

A tanglegram is a pair of trees whose leaf sets are in one-to-one correspondence; matching leaves are connected by inter-tree edges. In applications such as phylogenetics or hierarchical clustering, it is required that the individual trees are drawn crossing-free. A natural optimization problem, denoted tanglegram layout problem, is thus to minimize the number of crossings between inter-tree edges. The tanglegram layout problem is NP-hard even for complete binary trees, for general binary trees the problem is hard to approximate if the Unique Games Conjecture holds. In this paper we present an extensive experimental comparison of a new and several known heuristics for the general binary case. We measure the performance of the heuristics with a simple integer linear program and a new exact branch-and-bound algorithm. The new heuristic returns the first solution that the branch-and-bound algorithm computes (in quadratic time). Surprisingly, in most cases this simple heuristic is at least as good as the best of the other heuristics.

Map labeling encounters unique issues in the context of dynamic maps with continuous zooming and panning-an application with increasing practical importance. In consistent dynamic map labeling, distracting behavior such as popping and jumping is avoided. In the model for consistent dynamic labeling that we use, a label becomes a 3d-solid, with scale as the third dimension. Each solid can be truncated to a single scale interval, called its active range, corresponding to the scales at which the label will be selected. The active range optimization (ARO) problem is to select active ranges so that no two truncated solids overlap and the sum of the heights of the active ranges is maximized. The simple ARO problem is a variant in which the active ranges are restricted so that a label is never deselected when zooming in. We investigate both the general and simple variants, for 1d- as well as 2d-maps. The 1d-problem can be seen as a scheduling problem with geometric constraints, and is also closely related to geometric maximum independent set problems. Different label shapes define different ARO variants. We show that 2d-ARO and general 1d-ARO are NP-complete, even for quite simple shapes. We solve simple 1d-ARO optimally with dynamic programming, and present a toolbox of algorithms that yield constant-factor approximations for a number of 1d- and 2d-variants.

Given a fixed origin o in the d-dimensional grid, we give a novel definition of digital rays dig(op) from o to each grid point p. Each digital ray dig(op) approximates the Euclidean line segment op between o and p. The set of all digital rays satisfies a set of axioms analogous to the Euclidean axioms. We measure the approximation quality by the maximum Hausdorff distance between a digital ray and its Euclidean counterpart and establish an asymptotically tight Θ(log n) bound in the n x n grid. The proof of the bound is based on discrepancy theory and a simple construction algorithm. Without a monotonicity property for digital rays the bound is improved to O(1). Digital rays enable us to define the family of digital star-shaped regions centered at o which we use to design efficient algorithms for image processing problems.