Arnaud Casteigts

Arnaud Casteigts, Michelle Döring, Nils Morawietz

Given an undirected graph $G$, the problem of deciding whether $G$ admits a simple and proper time-labeling that makes it temporally connected is known to be NP-hard (Göbel et al., 1991). In this article, we relax this problem and ask whether a given degree sequence can be realized as a temporally connected graph. Our main results are a complete characterization of the feasible cases, and a recognition algorithm that runs in $O(n)$ time for graphical degree sequences (realized as simple temporal graphs) and in $O(n+m)$ time for multigraphical degree sequences (realized as non-simple temporal graphs, where the number of time labels on an edge corresponds to the multiplicity of the edge in the multigraph). In fact, these algorithms can be made constructive at essentially no cost. Namely, we give a constructive $O(n+m)$ time algorithm that outputs, for a given (multi)graphical degree sequence $\mathbf{d}$, a temporally connected graph whose underlying (multi)graph is a realization of $\mathbf{d}$, if one exists.

Arnaud Casteigts, Timothée Corsini, Nils Morawietz

A temporal graph is a graph whose edges appear at certain points in time. These graphs are temporally connected (in class TC) if all vertices can reach each other by temporal paths (traversing the edges in chronological order). Reachability based on temporal paths is not transitive, with important consequences. For instance, TC graphs do not always admit TC spanning trees. In this paper, we show that deciding if a given temporal graph admits a TC spanning tree is actually NP-complete. Then, we explore possible relaxations. A key feature of TC spanning trees is to support reachability along the same paths in both directions. We show that this property is not equivalent to TC spanning trees, it is more general and it can be tested in polynomial time. Still, minimizing the size of a spanner preserving this property -- a bidirectional spanner -- is \textsf{NP}-hard even more generally than TC spanning tree, including the setting of simple temporal graphs. Along the way, we show that deciding the existence of TC spanning tree is FPT when parameterized by the feedback edge set number (fes) of the underlying graph, and deciding bidirectional spanners of size $k$ is FPT when parameterized by fes + $\ell$ (the maximum number of labels per edge). On the structural side, we show that TC trees always admit a pivot vertex or a pivot edge -- reachable by all vertices by a certain time and able to reach all vertices afterward -- a fact that may be of independent interest.

Arnaud Casteigts, Hendrik Molter, Meirav Zehavi

Temporal graphs have edge sets that change over discrete time steps. Such graphs are temporally connected (TC) if all pairs of vertices can reach each other using paths that traverse the edges in a time-respecting way (temporal paths). Given a TC temporal graph it, a natural question is to find a minimum spanning subgraph of it that preserves temporal connectivity. These structures, known as temporal spanners, are fundamental and their properties (especially size) have been studied thoroughly in the past decade. In particular, the problem of minimizing the size of a temporal spanner is known to be hard. However, the existing results establish hardness for several incomparable settings and versions of the problem. In this article, we unify and strengthen these results by showing that this problem is NP-hard even on temporal graphs that are simple and proper (also known as "happy"), i.e., where every edge appears only one time, and a vertex cannot be incident to several edges simultaneously. Proving hardness in this extremely restricted setting implies, at once, that the problem is NP-hard for all the previously considered settings and versions of the problem, resolving Open Question 4 in [Casteigts et al. TCS, 2024]. We also initiate the parameterized study of this problem, showing that in the happy setting, the problem can be solved in polynomial time if the underlying graph has a constant-size vertex cover, this result being actually the first positive result on temporal spanners in general. We also show that in the non-happy setting, the problem is W[1]-hard when parameterized by the feedback vertex number of the underlying graph.

Arnaud Casteigts, Christian Komusiewicz, Nils Morawietz

Temporal graphs are graphs whose edges are only present at certain points in time. Reachability in these graphs relies on temporal paths, where edges are traversed chronologically. A temporal graph that offers all-pairs reachability is said to be temporally connected (or TC). For temporal graphs that are not TC, a natural question is whether they admit a TC subgraph (a.k.a. closed temporal component) of a given size $k$. This question was one of the earliest in the field, shown to be NP-hard by Bhadra and Ferreira in 2003. We strengthen this result dramatically, showing that deciding if a TC subgraph exists on at least $3$ vertices is already NP-hard in all the standard temporal graph settings (directed/undirected and strict/non-strict through simple and proper reductions). This implies a strong separation between closed temporal components and open temporal components (where temporal paths can travel outside the component), for which inclusion-maximal components can be found in polynomial time. As a by-product, our reductions strengthen a number of existing results and establish new derived results. They imply that the size of the largest TC subgraph cannot be approximated within a factor of $(1-ε)n$ in directed graphs, and within a factor of $(1-ε)\frac{n}{2}$ in undirected graphs. One of the reductions also completes the complexity landscape for TC subgraphs of size exactly $k$ when parameterized by $k$ (answering the missing non-strict case). Finally, on the structural side, our results imply that there exist arbitrarily large TC graphs of constant lifetime without nontrivial TC subgraphs, and we also show that there exist TC graphs of arbitrary girth, both facts being of independent interest.

Arnaud Casteigts, Paola Flocchini, Emmanuel Godard et al.

In infrastructure-less highly dynamic networks, computing and performing even basic tasks (such as routing and broadcasting) is a very challenging activity due to the fact that connectivity does not necessarily hold, and the network may actually be disconnected at every time instant. Clearly the task of designing protocols for these networks is less difficult if the environment allows waiting (i.e., it provides the nodes with store-carry-forward-like mechanisms such as local buffering) than if waiting is not feasible. No quantitative corroborations of this fact exist (e.g., no answer to the question: how much easier?). In this paper, we consider these qualitative questions about dynamic networks, modeled as time-varying (or evolving) graphs, where edges exist only at some times. We examine the difficulty of the environment in terms of the expressivity of the corresponding time-varying graph; that is in terms of the language generated by the feasible journeys in the graph. We prove that the set of languages $L_{nowait}$ when no waiting is allowed contains all computable languages. On the other end, using algebraic properties of quasi-orders, we prove that $L_{wait}$ is just the family of regular languages. In other words, we prove that, when waiting is no longer forbidden, the power of the accepting automaton (difficulty of the environment) drops drastically from being as powerful as a Turing machine, to becoming that of a Finite-State machine. This (perhaps surprisingly large) gap is a measure of the computational power of waiting. We also study bounded waiting; that is when waiting is allowed at a node only for at most $d$ time units. We prove the negative result that $L_{wait[d]} = L_{nowait}$; that is, the expressivity decreases only if the waiting is finite but unpredictable (i.e., under the control of the protocol designer and not of the environment).