Graph Coloring - Wikipedia, The Free Encyclopedia
Graph Coloring - Wikipedia, The Free Encyclopedia
org/wiki/Graph_coloring
Vertex coloring is the starting point of the subject, and other coloring
problems can be transformed into a vertex version. For example, an edge
coloring of a graph is just a vertex coloring of its line graph, and a face A proper vertex coloring of the
coloring of a plane graph is just a vertex coloring of its dual. However, Petersen graph with 3 colors, the
non-vertex coloring problems are often stated and studied as is. That is minimum number possible.
partly for perspective, and partly because some problems are best
studied in non-vertex form, as for instance is edge coloring.
The convention of using colors originates from coloring the countries of a map, where each face is literally
colored. This was generalized to coloring the faces of a graph embedded in the plane. By planar duality it
became coloring the vertices, and in this form it generalizes to all graphs. In mathematical and computer
representations, it is typical to use the first few positive or nonnegative integers as the "colors". In general, one
can use any finite set as the "color set". The nature of the coloring problem depends on the number of colors but
not on what they are.
Graph coloring enjoys many practical applications as well as theoretical challenges. Beside the classical types of
problems, different limitations can also be set on the graph, or on the way a color is assigned, or even on the
color itself. It has even reached popularity with the general public in the form of the popular number puzzle
Sudoku. Graph coloring is still a very active field of research.
Note: Many terms used in this article are defined in Glossary of graph theory.
1 History
2 Definition and terminology
2.1 Vertex coloring
2.2 Chromatic polynomial
2.3 Edge coloring
2.4 Total coloring
2.5 Unlabeled Coloring
3 Properties
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See also: History of the four color theorem and History of graph theory
The first results about graph coloring deal almost exclusively with planar graphs in the form of the coloring of
maps. While trying to color a map of the counties of England, Francis Guthrie postulated the four color
conjecture, noting that four colors were sufficient to color the map so that no regions sharing a common border
received the same color. Guthrie’s brother passed on the question to his mathematics teacher Augustus de
Morgan at University College, who mentioned it in a letter to William Hamilton in 1852. Arthur Cayley raised
the problem at a meeting of the London Mathematical Society in 1879. The same year, Alfred Kempe published
a paper that claimed to establish the result, and for a decade the four color problem was considered solved. For
his accomplishment Kempe was elected a Fellow of the Royal Society and later President of the London
Mathematical Society.[1]
In 1890, Heawood pointed out that Kempe’s argument was wrong. However, in that paper he proved the five
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color theorem, saying that every planar map can be colored with no more than five colors, using ideas of
Kempe. In the following century, a vast amount of work and theories were developed to reduce the number of
colors to four, until the four color theorem was finally proved in 1976 by Kenneth Appel and Wolfgang Haken.
The proof went back to the ideas of Heawood and Kempe and largely disregarded the intervening
developments.[2] The proof of the four color theorem is also noteworthy for being the first major
computer-aided proof.
In 1912, George David Birkhoff introduced the chromatic polynomial to study the coloring problems, which was
generalised to the Tutte polynomial by Tutte, important structures in algebraic graph theory. Kempe had already
drawn attention to the general, non-planar case in 1879,[3] and many results on generalisations of planar graph
coloring to surfaces of higher order followed in the early 20th century.
In 1960, Claude Berge formulated another conjecture about graph coloring, the strong perfect graph
conjecture, originally motivated by an information-theoretic concept called the zero-error capacity of a graph
introduced by Shannon. The conjecture remained unresolved for 40 years, until it was established as the
celebrated strong perfect graph theorem by Chudnovsky, Robertson, Seymour, and Thomas in 2002.
Graph coloring has been studied as an algorithmic problem since the early 1970s: the chromatic number problem
is one of Karp’s 21 NP-complete problems from 1972, and at approximately the same time various
exponential-time algorithms were developed based on backtracking and on the deletion-contraction recurrence
of Zykov (1949). One of the major applications of graph coloring, register allocation in compilers, was
introduced in 1981.
Vertex coloring
The terminology of using colors for vertex labels goes back to map
coloring. Labels like red and blue are only used when the number of
colors is small, and normally it is understood that the labels are drawn This graph can be 3-colored in 12
from the integers {1,2,3,...}. different ways.
A coloring using at most k colors is called a (proper) k-coloring. The smallest number of colors needed to color
a graph G is called its chromatic number, and is often denoted χ(G). Sometimes γ(G) is used, since χ(G) is also
used to denote the Euler characteristic of a graph. A graph that can be assigned a (proper) k-coloring is
k-colorable, and it is k-chromatic if its chromatic number is exactly k. A subset of vertices assigned to the
same color is called a color class, every such class forms an independent set. Thus, a k-coloring is the same as a
partition of the vertex set into k independent sets, and the terms k-partite and k-colorable have the same
meaning.
Chromatic polynomial
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Available colors 1 2 3 4 …
Number of colorings 0 0 12 72 …
Edge coloring
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An edge coloring of a graph is a proper coloring of the edges, meaning an assignment of colors to edges so that
no vertex is incident to two edges of the same color. An edge coloring with k colors is called a k-edge-coloring
and is equivalent to the problem of partitioning the edge set into k matchings. The smallest number of colors
needed for an edge coloring of a graph G is the chromatic index, or edge chromatic number, χ′(G). A Tait
coloring is a 3-edge coloring of a cubic graph. The four color theorem is equivalent to the assertion that every
planar cubic bridgeless graph admits a Tait coloring.
Total coloring
Total coloring is a type of coloring on the vertices and edges of a graph. When used without any qualification, a
total coloring is always assumed to be proper in the sense that no adjacent vertices, no adjacent edges, and no
edge and its endvertices are assigned the same color. The total chromatic number χ″(G) of a graph G is the least
number of colors needed in any total coloring of G.
Unlabeled Coloring
An unlabeled coloring of a graph is an orbit of a coloring under the action of the automorphism group of the
graph. If we interpret a coloring of a graph on vertices as a vector in , the action of an automorphism is a
permutation of the coefficients of the coloring. There are analogues of the chromatic polynomials which count
the number of unlabeled colorings of a graph from a given finite color set.
The only graphs that can be 1-colored are edgeless graphs. A complete graph of n vertices requires
colors. In an optimal coloring there must be at least one of the graph’s m edges between every
pair of color classes, so
If G contains a clique of size k, then at least k colors are needed to color that clique; in other words, the
chromatic number is at least the clique number:
The 2-colorable graphs are exactly the bipartite graphs, including trees and forests. By the four color theorem,
every planar graph can be 4-colored.
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A greedy coloring shows that every graph can be colored with one more color than the maximum vertex degree,
Graphs with large cliques have high chromatic number, but the opposite is not true. The Grötzsch graph is an
example of a 4-chromatic graph without a triangle, and the example can be generalised to the Mycielskians.
Mycielski’s Theorem (Alexander Zykov 1949, Jan Mycielski 1955): There exist triangle-free graphs with
arbitrarily high chromatic number.
From Brooks’s theorem, graphs with high chromatic number must have high maximum degree. Another local
property that leads to high chromatic number is the presence of a large clique. But colorability is not an entirely
local phenomenon: A graph with high girth looks locally like a tree, because all cycles are long, but its chromatic
number need not be 2:
Theorem (Erdős): There exist graphs of arbitrarily high girth and chromatic number.
An edge coloring of G is a vertex coloring of its line graph , and vice versa. Thus,
There is a strong relationship between edge colorability and the graph’s maximum degree . Since all
edges incident to the same vertex need their own color, we have
Moreover,
In general, the relationship is even stronger than what Brooks’s theorem gives for vertex coloring:
Other properties
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A graph has a k-coloring if and only if it has an acyclic orientation for which the longest path has length at most
k; this is the Gallai–Hasse–Roy–Vitaver theorem (Nešetřil & Ossona de Mendez 2012).
For planar graphs, vertex colorings are essentially dual to nowhere-zero flows.
About infinite graphs, much less is known. The following are two of the few results about infinite graph coloring:
If all finite subgraphs of an infinite graph G are k-colorable, then so is G, under the assumption of the
axiom of choice. This is the de Bruijn–Erdős theorem of de Bruijn & Erdős (1951).
If a graph admits a full n-coloring for every n ≥ n0, it admits an infinite full coloring (Fawcett 1978).
Open problems
The chromatic number of the plane, where two points are adjacent if they have unit distance, is unknown,
although it is one of 4, 5, 6, or 7. Other open problems concerning the chromatic number of graphs include the
Hadwiger conjecture stating that every graph with chromatic number k has a complete graph on k vertices as a
minor, the Erdős–Faber–Lovász conjecture bounding the chromatic number of unions of complete graphs that
have at exactly one vertex in common to each pair, and the Albertson conjecture that among k-chromatic graphs
the complete graphs are the ones with smallest crossing number.
When Birkhoff and Lewis introduced the chromatic polynomial in their attack on the four-color theorem, they
conjectured that for planar graphs G, the polymomial has no zeros in the region . Although it is
known that such a chromatic polynomial has no zeros in the region and that , their
conjecture is still unresolved. It also remains an unsolved problem to characterize graphs which have the same
chromatic polynomial and to determine which polynomials are chromatic.
Polynomial time
Graph coloring
Determining if a graph can be colored with 2 colors is
equivalent to determining whether or not the graph is
bipartite, and thus computable in linear time using
breadth-first search. More generally, the chromatic number
and a corresponding coloring of perfect graphs can be
computed in polynomial time using semidefinite
programming. Closed formulas for chromatic polynomial are
known for many classes of graphs, such as forest, chordal
graphs, cycles, wheels, and ladders, so these can be evaluated Decision
in polynomial time. Name Graph coloring, vertex coloring,
k-coloring
If the graph is planar and has low branchwidth (or is
nonplanar but with a known branch decompositon), then it Input Graph G with n vertices. Integer k
can be solved in polynomial time using dynamic Output Does G admit a proper vertex
programming. In general, the time required is polynomial in coloring with k colors?
the graph size, but exponential in the branchwidth.
Running time O(2 nn)[5]
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Brute-force search for a k-coloring considers each of the Reduction from 3-Satisfiability
assignments of k colors to n vertices and checks for each if it
is legal. To compute the chromatic number and the chromatic Garey–Johnson GT4
polynomial, this procedure is used for every Optimisation
, impractical for all but the smallest
Name Chromatic number
input graphs.
Input Graph G with n vertices.
Using dynamic programming and a bound on the number of Output χ(G)
maximal independent sets, k-colorability can be decided in
Complexity NP-hard
time and space .[6] Using the principle of
inclusion–exclusion and Yates’s algorithm for the fast zeta Approximability O(n (log n)−3(log log n)2)
[5] Inapproximability O(n1−ε) unless P = NP
transform, k-colorability can be decided in time
for any k. Faster algorithms are known for 3- and Counting problem
[7]
4-colorability, which can be decided in time
Name Chromatic polynomial
[8]
and , respectively.
Input Graph G with n vertices. Integer k
Output The number P (G,k) of proper
Contraction
k-colorings of G
The contraction of graph G is the graph obtained by Running time O(2 nn)
identifying the vertices u and v, removing any edges between
Complexity #P-complete
them, and replacing them with a single vertex w where any
edges that were incident on u or v are redirected to w. This Approximability FPRAS for restricted cases
operation plays a major role in the analysis of graph coloring. Inapproximability No PTAS unless P = NP
due to Zykov (1949), where u and v are nonadjacent vertices, is the graph with the edge added.
Several algorithms are based on evaluating this recurrence, the resulting computation tree is sometimes called a
Zykov tree. The running time is based on the heuristic for choosing the vertices u and v.
where u and v are adjacent vertices and is the graph with the edge removed.
represents the number of possible proper colorings of the graph, when the vertices may have same or different
colors. The number of proper colorings therefore come from the sum of two graphs. If the vertices u and v have
different colors, then we can as well consider a graph, where u and v are adjacent. If u and v have the same
colors, we may as well consider a graph, where u and v are contracted. Tutte’s curiosity about which other graph
properties satisfied this recurrence led him to discover a bivariate generalization of the chromatic polynomial,
the Tutte polynomial.
The expressions give rise to a recursive procedure, called the deletion–contraction algorithm, which forms the
basis of many algorithms for graph coloring. The running time satisfies the same recurrence relation as the
Fibonacci numbers, so in the worst case, the algorithm runs in time within a polynomial factor of
for n vertices and m edges.[9] The analysis can be improved to
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within a polynomial factor of the number of spanning trees of the input graph.[10] In practice, branch and
bound strategies and graph isomorphism rejection are employed to avoid some recursive calls, the running time
depends on the heuristic used to pick the vertex pair.
Greedy coloring
In the field of distributed algorithms, graph coloring is closely related to the problem of symmetry breaking. The
current state-of-the-art randomized algorithms are faster for sufficiently large maximum degree ∆ than
deterministic algorithms. The fastest randomized algorithms employ the multi-trials technique by Schneider et
al.[13]
In a symmetric graph, a deterministic distributed algorithm cannot find a proper vertex coloring. Some auxiliary
information is needed in order to break symmetry. A standard assumption is that initially each node has a unique
identifier, for example, from the set {1, 2, ..., n}. Put otherwise, we assume that we are given an n-coloring. The
challenge is to reduce the number of colors from n to, e.g., ∆ + 1. The more colors are employed, e.g. O(∆)
instead of ∆ + 1, the fewer communication rounds are required.[13]
A straightforward distributed version of the greedy algorithm for (∆ + 1)-coloring requires Θ(n) communication
rounds in the worst case − information may need to be propagated from one side of the network to another side.
The simplest interesting case is an n-cycle. Richard Cole and Uzi Vishkin[14] show that there is a distributed
algorithm that reduces the number of colors from n to O(log n) in one synchronous communication step. By
iterating the same procedure, it is possible to obtain a 3-coloring of an n-cycle in O(log* n) communication steps
(assuming that we have unique node identifiers).
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The function log*, iterated logarithm, is an extremely slowly growing function, "almost constant". Hence the
result by Cole and Vishkin raised the question of whether there is a constant-time distribute algorithm for
3-coloring an n-cycle. Linial (1992) showed that this is not possible: any deterministic distributed algorithm
requires Ω(log* n) communication steps to reduce an n-coloring to a 3-coloring in an n-cycle.
The technique by Cole and Vishkin can be applied in arbitrary bounded-degree graphs as well; the running time
is poly(∆) + O(log* n).[15] The technique was extended to unit disk graphs by Schneider et al.[16] The fastest
deterministic algorithms for (∆ + 1)-coloring for small ∆ are due to Leonid Barenboim, Michael Elkin and
Fabian Kuhn.[17] The algorithm by Barenboim et al. runs in time O(∆) + log*(n)/2, which is optimal in terms of
n since the constant factor 1/2 cannot be improved due to Linial's lower bound. Panconesi et al.[18] use network
decompositions to compute a ∆+1 coloring in time .
The problem of edge coloring has also been studied in the distributed model. Panconesi & Rizzi (2001) achieve
a (2∆ − 1)-coloring in O(∆ + log* n) time in this model. The lower bound for distributed vertex coloring due to
Linial (1992) applies to the distributed edge coloring problem as well.
Decentralized algorithms
Decentralized algorithms are ones where no message passing is allowed (in contrast to distributed algorithms
where local message passing takes places), and efficient decentralized algorithms exist that will color a graph if a
proper coloring exists. These assume that a vertex is able to sense whether any of its neighbors are using the
same color as the vertex i.e., whether a local conflict exists. This is a mild assumption in many applications e.g.
in wireless channel allocation it is usually reasonable to assume that a station will be able to detect whether
other interfering transmitters are using the same channel (e.g. by measuring the SINR). This sensing information
is sufficient to allow algorithms based on learning automata to find a proper graph coloring with probability one,
e.g. see Leith (2006) and Duffy (2008).
Computational complexity
Graph coloring is computationally hard. It is NP-complete to decide if a given graph admits a k-coloring for a
given k except for the cases k = 1 and k = 2. In particular, it is NP-hard to compute the chromatic number.[19]
The 3-coloring problem remains NP-complete even on planar graphs of degree 4.[20]
The best known approximation algorithm computes a coloring of size at most within a factor
O(n(log n)−3(log log n)2) of the chromatic number.[21] For all ε > 0, approximating the chromatic number within
n1−ε is NP-hard.[22]
It is also NP-hard to color a 3-colorable graph with 4 colors[23] and a k-colorable graph with k(log k ) / 25 colors
for sufficiently large constant k.[24]
Computing the coefficients of the chromatic polynomial is #P-hard. In fact, even computing the value of
is #P-hard at any rational point k except for k = 1 and k = 2.[25] There is no FPRAS for evaluating the
chromatic polynomial at any rational point k ≥ 1.5 except for k = 2 unless NP = RP.[26]
For edge coloring, the proof of Vizing’s result gives an algorithm that uses at most ∆+1 colors. However,
deciding between the two candidate values for the edge chromatic number is NP-complete.[27] In terms of
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approximation algorithms, Vizing’s algorithm shows that the edge chromatic number can be approximated to
within 4/3, and the hardness result shows that no (4/3 − ε )-algorithm exists for any ε > 0 unless P = NP. These
are among the oldest results in the literature of approximation algorithms, even though neither paper makes
explicit use of that notion.[28]
Scheduling
Vertex coloring models to a number of scheduling problems.[29] In the cleanest form, a given set of jobs need to
be assigned to time slots, each job requires one such slot. Jobs can be scheduled in any order, but pairs of jobs
may be in conflict in the sense that they may not be assigned to the same time slot, for example because they
both rely on a shared resource. The corresponding graph contains a vertex for every job and an edge for every
conflicting pair of jobs. The chromatic number of the graph is exactly the minimum makespan, the optimal time
to finish all jobs without conflicts.
Details of the scheduling problem define the structure of the graph. For example, when assigning aircraft to
flights, the resulting conflict graph is an interval graph, so the coloring problem can be solved efficiently. In
bandwidth allocation to radio stations, the resulting conflict graph is a unit disk graph, so the coloring problem is
3-approximable.
Register allocation
A compiler is a computer program that translates one computer language into another. To improve the execution
time of the resulting code, one of the techniques of compiler optimization is register allocation, where the most
frequently used values of the compiled program are kept in the fast processor registers. Ideally, values are
assigned to registers so that they can all reside in the registers when they are used.
The textbook approach to this problem is to model it as a graph coloring problem.[30] The compiler constructs
an interference graph, where vertices are symbolic registers and an edge connects two nodes if they are needed
at the same time. If the graph can be colored with k colors then the variables can be stored in k registers.
Other applications
The problem of coloring a graph has found a number of applications, including pattern matching.
The recreational puzzle Sudoku can be seen as completing a 9-coloring on given specific graph with 81 vertices.
Ramsey theory
An important class of improper coloring problems is studied in Ramsey theory, where the graph’s edges are
assigned to colors, and there is no restriction on the colors of incident edges. A simple example is the friendship
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theorem, which states that in any coloring of the edges of the complete graph of six vertices there will be a
monochromatic triangle; often illustrated by saying that any group of six people either has three mutual
strangers or three mutual acquaintances. Ramsey theory is concerned with generalisations of this idea to seek
regularity amid disorder, finding general conditions for the existence of monochromatic subgraphs with given
structure.
Other colorings
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Coloring can also be considered for signed graphs and gain graphs.
Edge coloring
Circular coloring
Critical graph
Graph homomorphism
Hajós construction
Mathematics of Sudoku
Multipartite graph
Uniquely colorable graph
1. ^ M. Kubale, History 7. ^ Beigel & Eppstein 14. ^ Cole & Vishkin 19. ^ Garey, Johnson &
of graph coloring, in (2005) (1986), see also Stockmeyer (1974);
Kubale (2004) 8. ^ Fomin, Gaspers & Cormen, Leiserson & Garey & Johnson
2. ^ van Lint & Wilson Saurabh (2007) Rivest (1990, Section (1979).
(2001, Chap. 33) 9. ^ Wilf (1986) 30.5) 20. ^ Dailey (1980)
3. ^ Jensen & Toft 10. ^ Sekine, Imai & 15. ^ Goldberg, Plotkin 21. ^ Halldórsson (1993)
(1995), p. 2 Tani (1995) & Shannon (1988) 22. ^ Zuckerman (2007)
4. ^ Brooks (1941) 11. ^ Welsh & Powell 16. ^ Schneider (2008) 23. ^ Guruswami &
5. ^ a b Björklund, (1967) 17. ^ Barenboim & Elkin Khanna (2000)
Husfeldt & Koivisto 12. ^ Brélaz (1979) (2009); Kuhn (2009) 24. ^ Khot (2001)
ab
(2009) 13. ^ Schneider 18. ^ Panconesi (1995) 25. ^ Jaeger, Vertigan &
6. ^ Lawler (1976) (2010) Welsh (1990)
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26. ^ Goldberg & Jerrum 27. ^ Holyer (1981) 28. ^ Crescenzi & Kann 29. ^ Marx (2004)
(2008) (1998) 30. ^ Chaitin (1982)
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