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(1)

Find out the difference(s)?

Shape 1 Shape 2

(2)

Find out the difference(s)?

Graph G1 Graph G2

(3)

Connectivity in graphs

Jean Cousty MorphoGraph and Imagery

2011

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Outline of the lecture

1 Path

2 Connectivity

3 Algorithms

4 Degrees

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Path

Path

Definition

Let G = (E,Γ) be a graph, and let x and y be two vertices in E A path fromx toy (inG) is a sequenceπ = (x0, . . . ,x`)of vertices in E such that

∀i∈ {1, . . . , `}, xiΓ(xi−1) x0=x and x`=y

Ifπ= (x0, . . . ,x`) is a path, `is called itslength

2

3

4 1

Exemple

π= (1,2,3)is a path

of length 2

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Path

Path

Definition

Let G = (E,Γ) be a graph, and let x and y be two vertices in E A path fromx toy (inG) is a sequenceπ = (x0, . . . ,x`)of vertices in E such that

∀i∈ {1, . . . , `}, xiΓ(xi−1) x0=x and x`=y

Ifπ= (x0, . . . ,x`) is a path, `is called itslength

2

3 1

Exemple

π= (1,2,3)is a path

of length 2

(7)

Path

Path

Definition

Let G = (E,Γ) be a graph, and let x and y be two vertices in E A path fromx toy (inG) is a sequenceπ = (x0, . . . ,x`)of vertices in E such that

∀i∈ {1, . . . , `}, xiΓ(xi−1) x0=x and x`=y

Ifπ = (x0, . . . ,x`) is a path, `is called itslength

2

3

4 1

Exemple

π= (1,2,3)is a path of length 2

(8)

Path

Some remarkable paths

A path of length 0 is called a trivial path

A non-trivial pathπ= (x0, . . . ,x`) is called a circuit ifx0=x` A pathπ= (x0, . . . ,x`) is calledelementaryif any two of its vertices are distinct (except possiblyx0 andx`): ∀i,j ∈ {0, . . . , `}, i 6=j =⇒ xi 6=xj (where{i,j} 6={0, `})

2

3

4 1

Exemple

(3)is a trivial path

(1,2,3,1)is a circuit

that is elementary

(1,3,1,2,3,1)is a circuit that is not elementary

(9)

Path

Some remarkable paths

A path of length 0 is called a trivial path

A non-trivial path π= (x0, . . . ,x`) is called a circuit ifx0=x`

A pathπ= (x0, . . . ,x`) is calledelementaryif any two of its vertices are distinct (except possiblyx0 andx`): ∀i,j ∈ {0, . . . , `}, i 6=j =⇒ xi 6=xj (where{i,j} 6={0, `})

2

3

4 1

Exemple

(3)is a trivial path (1,2,3,1)is a circuit

that is elementary

(1,3,1,2,3,1)is a circuit that is not elementary

(10)

Path

Some remarkable paths

A path of length 0 is called a trivial path

A non-trivial path π= (x0, . . . ,x`) is called a circuit ifx0=x` A path π= (x0, . . . ,x`) is calledelementaryif any two of its vertices are distinct (except possibly x0 andx`): ∀i,j ∈ {0, . . . , `}, i 6=j =⇒ xi 6=xj (where{i,j} 6={0, `})

2

3

4 1

Exemple

(3)is a trivial path

(1,2,3,1)is a circuit that is elementary

(1,3,1,2,3,1)is a circuit that is not elementary

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Path

Some remarkable paths

A path of length 0 is called a trivial path

A non-trivial path π= (x0, . . . ,x`) is called a circuit ifx0=x` A path π= (x0, . . . ,x`) is calledelementaryif any two of its vertices are distinct (except possibly x0 andx`): ∀i,j ∈ {0, . . . , `}, i 6=j =⇒ xi 6=xj (where{i,j} 6={0, `})

2

3

4 1

Exemple

(3)is a trivial path

(1,2,3,1)is a circuit that is elementary

(1,3,1,2,3,1)is a circuit that is not elementary

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Path

Basic properties

Property

Any path π from x to y contains an elementary path from x to y

The length of an elementary circuit is less than n (where n=|E|) The length of an elementary path which is not a circuit is less than n−1

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Path

Basic properties

Property

Any path π from x to y contains an elementary path from x to y The length of an elementary circuit is less than n (where n =|E|)

The length of an elementary path which is not a circuit is less than n−1

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Path

Basic properties

Property

Any path π from x to y contains an elementary path from x to y The length of an elementary circuit is less than n (where n =|E|) The length of an elementary path which is not a circuit is less than n−1

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Path

Undirected paths and cycles

Definition

Let Gs = (E,Γs) be the symmetric closure of G

Any path in Gs is called anundirected path (in G)

Acycle (in G)is a circuit in Gs that does not pass twice by the same edge

Remark. Ifπ= (x0, . . . ,x`) is an undirected path,

thenπ0 = (x`, . . . ,x0) is an undirected path (since (E,Γs) is a symmetric graph, which implies thatxi ∈Γs(xi−1)⇔xi−1∈Γs(xi))

(16)

Path

Undirected paths and cycles

Definition

Let Gs = (E,Γs) be the symmetric closure of G Any path in Gs is called anundirected path (in G)

Acycle (in G)is a circuit in Gs that does not pass twice by the same edge

Remark. Ifπ= (x0, . . . ,x`) is an undirected path,

thenπ0 = (x`, . . . ,x0) is an undirected path (since (E,Γs) is a symmetric graph, which implies thatxi ∈Γs(xi−1)⇔xi−1∈Γs(xi))

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Path

Undirected paths and cycles

Definition

Let Gs = (E,Γs) be the symmetric closure of G Any path in Gs is called anundirected path (in G)

A cycle (in G)is a circuit in Gs that does not pass twice by the same edge

Remark. Ifπ= (x0, . . . ,x`) is an undirected path,

thenπ0 = (x`, . . . ,x0) is an undirected path (since (E,Γs) is a symmetric graph, which implies thatxi ∈Γs(xi−1)⇔xi−1∈Γs(xi))

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Path

Undirected paths and cycles

Definition

Let Gs = (E,Γs) be the symmetric closure of G Any path in Gs is called anundirected path (in G)

A cycle (in G)is a circuit in Gs that does not pass twice by the same edge

Remark. Ifπ= (x0, . . . ,x`) is an undirected path,

thenπ0 = (x`, . . . ,x0) is an undirected path (since (E,Γs) is a symmetric graph, which implies thatxi ∈Γs(xi−1)⇔xi−1 ∈Γs(xi))

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Path

Illustration: path and undirected path, circuit and cycles

2

3

4 1

Exemple

(1,2,1)is not a path (1,2,3,1,2,4)is a path (4,2,1)is an undirected path (1,3,2,1)is not a circuit (1,3,1)is not a cycle

(1,2,3)is a path (4,2,1)is not a path (1,2,3,1)is a circuit (1,3,2,1)is a cycle

(20)

Connectivity

Connected component

Definition

Let x ∈E . The connected component of G containingx is the subset Cx of E defined by:

Cx ={y E |there exists an undirected path from x to y}

Exemple

0 1

0

1 01

0 1 0 1

0 1 0000

1111 0 01 01

1 00

11

00 11

00 11 0 1

00 11 00 11

1 2

3

4

6 7 8

5 C1 ={1,2,3,4}=C2 =

C3 =C4 C5 ={5}

C6 =C7=C8 ={6,7,8}

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Connectivity

Connected component

Definition

Let x ∈E . The connected component of G containingx is the subset Cx of E defined by:

Cx ={y E |there exists an undirected path from x to y}

Exemple

0 1

0 1

0 1 0 1 0 1

0 1 0000

1111 0 01 01

1 00

11

00 11

00 11 0 1

00 11 00 11

1 2

3

4

6 7 8

5 C1 ={1,2,3,4}=C2 =

C3 =C4 C5 ={5}

C6 =C7 =C8={6,7,8}

(22)

Connectivity

Connected component as equivalence classes

Property

1 ∀x∈E , x ∈Cx (reflexivity)

2 ∀x,y ∈E , y ∈Cx =⇒ x ∈Cy (symmetry)

3 ∀x,y,z ∈E , [y ∈Cx and z ∈Cy] =⇒ z ∈Cx (transitivity)

Proof.

1 ∀x∈E, (x) is a (trivial) undirected path, thusx ∈Cx

2 y ∈Cx =⇒ ∃an undirected pathπ = (x0, . . . , ,x`) fromx toy

=⇒ π0 = (x`, . . . ,x0) is an undirected path fromy tox

=⇒ x ∈Cy

3 [y ∈Cx andz ∈Cy] =⇒ [∃ an undirected pathπ = (x0, . . . ,x`) from x to y and∃an undirected path π0= (y0, . . . ,ym) fromy to z] =⇒ π00= (x0, . . . ,x`,y1, . . . ,ym) is an undirected path

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Connectivity

Strongly connected component

Definition

Let x ∈E . The strongly connected component (ofG) containing x is the subset Cx0 of E defined by

Cx0 ={y E | ∃a path from x to y and a path from y to x}

Exemple

0 1

0

1 01

0 1 0 1

0 1 0000

1111 0 01 01

1 00

11

00 11

00 11 0 1

00 11 00 11

1 2

3

4

6 7 8

5 C10 ={1,2,3}=C20 =C30

C40 ={4} ; C50 ={5} C60 ={6} ; C70 ={7} C80 ={8}

(24)

Connectivity

Strongly connected component

Definition

Let x ∈E . The strongly connected component (ofG) containing x is the subset Cx0 of E defined by

Cx0 ={y E | ∃a path from x to y and a path from y to x}

Exemple

0 1

0 1 0 1

0 1 0000

1111 0 01 01

1 00

11

0 1

00 11 00 11

1 2

3

7 8

5 C10 ={1,2,3}=C20 =C30

C40 ={4} ; C50 ={5}

C60 ={6} ; C70 ={7}

C0 ={8}

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Connectivity

Strongly connected components as equivalence classes?

Exercise. Are the strongly connected components of a graphs equivalence classes? Proof or counter-example?

(26)

Algorithms

Connected and strongly connected components computation

Method

We will first study a characterization of connected components and of strongly connected components based on morphological dilation This will allow us to propose efficient algorithm to compute them

(27)

Algorithms

Iterated operators

Definition

Let γ be an operator and i ∈N

We denote by γi the operator defined by

1 γi=γγi−1

2 γ0=Id (i.e. ∀X E, γ0(X) =X )

Exemple (iterated dilation)

1 δ0Γ(X) =X

2 δ1Γ(X) =δΓ0Γ(X)) =δΓ(X)

3 δ2Γ(X) =δΓ1Γ(X)) =δΓΓ(X))

4 δ3Γ(X) =δΓ2Γ(X)) =δΓΓΓ(X)))

5 . . .

6 δiΓ(X) =δΓiΓ−1(X)) =δΓ(. . . δΓ(X). . .)

(28)

Algorithms

Iterated operators

Definition

Let γ be an operator and i ∈N

We denote by γi the operator defined by

1 γi=γγi−1

2 γ0=Id (i.e. ∀X E, γ0(X) =X )

Exemple (iterated dilation)

1 δ0Γ(X) =X

2 δ1Γ(X) =δΓ0Γ(X)) =δΓ(X)

3 δ2Γ(X) =δΓ1Γ(X)) =δΓΓ(X))

4 δ3Γ(X) =δΓ2Γ(X)) =δΓΓΓ(X)))

5 . . .

(29)

Algorithms

Illustration: iterated dilation

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2} δ2Γ(X) ={3,4}

(30)

Algorithms

Illustration: iterated dilation

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2}

δ2Γ(X) ={3,4}

(31)

Algorithms

Illustration: iterated dilation

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2}

δ2Γ(X) ={3,4}

(32)

Algorithms

Iterated dilation and paths of given length

Property

Let x ∈E and i ∈N

The two following equalities hold true

δiΓ({x}) ={y E | ∃a path from x to y of length i}

δiΓ−1({x}) ={yE | ∃a path from y to x of length i}

Definition

We define for any X ⊆E and any p∈N δˆpΓ(X) =∪{δΓi(X)|i∈ {0, . . . ,p}}

The setδˆΓp(X) is called the pre-closure ofX of rankp

(33)

Algorithms

Iterated dilation and paths of given length

Property

Let x ∈E and i ∈N

The two following equalities hold true

δiΓ({x}) ={y E | ∃a path from x to y of length i}

δiΓ−1({x}) ={yE | ∃a path from y to x of length i}

Definition

We define for any X ⊆E and any p∈N δˆpΓ(X) =∪{δiΓ(X)|i∈ {0, . . . ,p}}

The setδˆΓp(X) is called the pre-closure ofX of rankp

(34)

Algorithms

Iterated dilation and paths of given length

Property

Let x ∈E and i ∈N

The two following equalities hold true

δiΓ({x}) ={y E | ∃a path from x to y of length i}

δiΓ−1({x}) ={yE | ∃a path from y to x of length i}

Definition

We define for any X ⊆E and any p∈N δˆpΓ(X) =∪{δiΓ(X)|i∈ {0, . . . ,p}}

The set δˆΓp(X) is called the pre-closure ofX of rankp

(35)

Algorithms

Transitive closure and paths

Corollary

Let x ∈E

The two following equalities hold true

δˆpΓ({x}) ={yE | ∃a path from x to y of length p}

δpΓˆ−1({x}) ={yE | ∃a path from y to x of length p}

Definition

Let x ∈E , the (transitive) closure of {x} is the set δˆΓ ({x}) ={y ∈E | ∃a path from x to y}

Exercise. Prove that ˆδΓ({x}) =δΓn−1ˆ ({x}) (wheren=|E|)

(36)

Algorithms

Transitive closure and paths

Corollary

Let x ∈E

The two following equalities hold true

δˆpΓ({x}) ={yE | ∃a path from x to y of length p}

δpΓˆ−1({x}) ={yE | ∃a path from y to x of length p}

Definition

Let x ∈E , the (transitive) closure of {x} is the set δˆΓ ({x}) ={y ∈E | ∃a path from x to y}

Exercise. Prove that ˆδΓ({x}) =δΓn−1ˆ ({x}) (wheren=|E|)

(37)

Algorithms

Transitive closure and paths

Corollary

Let x ∈E

The two following equalities hold true

δˆpΓ({x}) ={yE | ∃a path from x to y of length p}

δpΓˆ−1({x}) ={yE | ∃a path from y to x of length p}

Definition

Let x ∈E , the (transitive) closure of {x} is the set δˆΓ ({x}) ={y ∈E | ∃a path from x to y}

Exercise. Prove that ˆδΓ({x}) =δΓn−1ˆ ({x}) (where n=|E|)

(38)

Algorithms

Illustration: transitive closure

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2} δ2Γ(X) ={3,4}

X = ˆδ0Γ(X) ={1}

δˆΓ1(X) ={1,2}

δˆΓ2(X) ={1,2,3,4}= ˆδΓ7(X)

(39)

Algorithms

Illustration: transitive closure

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2}

δ2Γ(X) ={3,4}

X = ˆδ0Γ(X) ={1}

δˆΓ1(X) ={1,2}

δˆΓ2(X) ={1,2,3,4}= ˆδΓ7(X)

(40)

Algorithms

Illustration: transitive closure

1 2

3

4

6 7 8

5

Exemple

X =δ0Γ(X) ={1}

δ1Γ(X) ={2}

δ2(X) ={3,4}

X = ˆδ0Γ(X) ={1}

δˆΓ1(X) ={1,2}

δˆ2(X) ={1,2,3,4}= ˆδ7(X)

(41)

Algorithms

Transitive closure and connected components

Property

Let x ∈E . Let Cx and Cx0 be respectively the connected

components and the strongly connected components containing x

The two following equalities hold true Cx0 =δΓn−1ˆ ({x})δΓn−1ˆ−1({x}) Cx =δΓn−1ˆ

s ({x}) =δn−1Γˆ

s ({x})

where n=|E|andΓs is the symmetric closure ofΓ

Important remark

To compute the connected and strongly connected components containingx, it is thus sufficient to compute the transitive closure of{x} for the graphs (E,Γ), (E,Γ−1) and (E,Γs)

(42)

Algorithms

Transitive closure and connected components

Property

Let x ∈E . Let Cx and Cx0 be respectively the connected

components and the strongly connected components containing x The two following equalities hold true

Cx0 =δΓn−1ˆ ({x})δΓn−1ˆ−1({x}) Cx =δΓn−1ˆ

s ({x}) =δn−1Γˆ

s ({x})

where n=|E|andΓs is the symmetric closure ofΓ

Important remark

To compute the connected and strongly connected components containingx, it is thus sufficient to compute the transitive closure of{x} for the graphs (E,Γ), (E,Γ−1) and (E,Γs)

(43)

Algorithms

Transitive closure and connected components

Property

Let x ∈E . Let Cx and Cx0 be respectively the connected

components and the strongly connected components containing x The two following equalities hold true

Cx0 =δΓn−1ˆ ({x})δΓn−1ˆ−1({x}) Cx =δΓn−1ˆ

s ({x}) =δn−1Γˆ

s ({x})

where n=|E|andΓs is the symmetric closure ofΓ

Important remark

To compute the connected and strongly connected components containing x, it is thus sufficient to compute the transitive closure of {x} for the graphs (E,Γ), (E,Γ−1) and (E,Γs)

(44)

Algorithms

Naive algorithm for the transitive closure of {x }

Algorithm TRANS NAIV ( Data: (E,Γ),x ∈E ;

Results: Z =δΓn−1ˆ ({x}))

X :={x} ;Y :=∅ ;Z :={x} ; For each i from 1 to n−1 do

Y := DIL((E,Γ),X) ; /*Y =δΓi({x}) */

Z :=Z∪Y ; /*Z = ˆδΓi({x}) */

X :=Y;Y :=∅;

Complexity

By using the algorithm DIL studied during practical session # 1 The complexity of TRANS NAIV is

O(n2+nm)(where n=|E|and m=|Γ|)

(45)

Algorithms

Naive algorithm for the transitive closure of {x }

Algorithm TRANS NAIV ( Data: (E,Γ),x ∈E ;

Results: Z =δΓn−1ˆ ({x}))

X :={x} ;Y :=∅ ;Z :={x} ; For each i from 1 to n−1 do

Y := DIL((E,Γ),X) ; /*Y =δΓi({x}) */

Z :=Z∪Y ; /*Z = ˆδΓi({x}) */

X :=Y;Y :=∅;

Complexity

By using the algorithm DIL studied during practical session # 1 The complexity of TRANS NAIV is

O(n2+nm)(where n=|E|and m=|Γ|)

(46)

Algorithms

Linear-time algorithm for the transitive closure of {x }

Algorithm TRANS ( Data: (E,Γ),x∈E ;

Result: Z =δΓn−1ˆ ({x})) X :={x} ;Y :=∅ ;Z :={x} ;

For eachi from 1 to n−1do While ∃y ∈X do

X :=X \ {y} ; For eachz Γ(y)do

Ifz/Z thenY :=Y ∪ {z};Z :=Z ∪ {z};

X :=Y;Y :=∅;

Complexity

If X and Y are represented by LLs and if Z is represented by a BA The time-complexity of TRANS is linear

O(n+m)(where n=|E|and m=|Γ|)

(47)

Algorithms

Linear-time algorithm for the transitive closure of {x }

Algorithm TRANS ( Data: (E,Γ),x∈E ;

Result: Z =δΓn−1ˆ ({x})) X :={x} ;Y :=∅ ;Z :={x} ;

For eachi from 1 to n−1do While ∃y ∈X do

X :=X \ {y} ; For eachz Γ(y)do

Ifz/Z thenY :=Y ∪ {z};Z :=Z ∪ {z};

X :=Y;Y :=∅;

Complexity

If X and Y are represented by LLs and if Z is represented by a BA The time-complexity of TRANS is linear

O(n+m)(where n=|E|and m=|Γ|)

(48)

Algorithms

Linear-time algorithm for the transitive closure of {x }

Algorithm TRANS can be further simplified without changing its complexity:

Algorithm TRANS ( Data: (E,Γ),x∈E ;

Result: Z =δΓn−1ˆ ({x}))

X :={x} ;Z :={x};

While ∃y ∈X do X :=X \ {y};

For eachz Γ(y)do

Ifz/Z then X :=X ∪ {z};Z :=Z∪ {z};

(49)

Algorithms

Computing the strongly connected component containing x

Algorithm SCC ( Data: (E,Γ),x ∈E ;

Result: Z =Cx0)

X := TRANS((E,Γ),x);

Γ−1 := SYM 1(E,Γ);

Y := TRANS((E,Γ−1), x) Z :=X ∩Y;

Complexity

Using

the linear-time algorithm SYM 1 (first lecture) the linear-time TRANS

The time-complexity of SCC is linear: O(n+m)(where n=|E|and m=|Γ|)

(50)

Algorithms

Computing the strongly connected component containing x

Algorithm SCC ( Data: (E,Γ),x ∈E ;

Result: Z =Cx0)

X := TRANS((E,Γ),x);

Γ−1 := SYM 1(E,Γ);

Y := TRANS((E,Γ−1), x) Z :=X ∩Y;

Complexity

Using

the linear-time algorithm SYM 1 (first lecture) the linear-time TRANS

The time-complexity of SCC is linear:

(51)

Algorithms

Computing the connected component containing x

Algorithm CC ( Data: (E,Γ),x ∈E ;

Result: Y =Cx)

Γ−1 := SYM 1(E,Γ);

Γs := Γ∪Γ−1 ;

Y := TRANS((E,Γs),x)

Complexity

Using

the linear-time algorithm SYM 1 (first lecture) the linear-time TRANS

The time-complexity of CC is linear: O(n+m)(where n=|E|and m=|Γ|)

(52)

Algorithms

Computing the connected component containing x

Algorithm CC ( Data: (E,Γ),x ∈E ;

Result: Y =Cx)

Γ−1 := SYM 1(E,Γ);

Γs := Γ∪Γ−1 ;

Y := TRANS((E,Γs),x)

Complexity

Using

the linear-time algorithm SYM 1 (first lecture) the linear-time TRANS

The time-complexity of CC is linear:

O(n+m)(where n=|E|and m=|Γ|)

(53)

Degrees

Application of graphs properties

Problem

In a charity diner, is there always two people having the same number of friends who are present in the diner?

Can we draw in the plan five distinct lines such that any of them has exactly three intersection points with the others?

In order to answer these questions read first the two next slides!

(54)

Degrees

Application of graphs properties

Problem

In a charity diner, is there always two people having the same number of friends who are present in the diner?

Can we draw in the plan five distinct lines such that any of them has exactly three intersection points with the others?

In order to answer these questions read first the two next slides!

(55)

Degrees

Degree

Let G = (E,Γ) be a graph and letx ∈E

The outer degree of x (for G )is the valued+(x) =|Γ(x)|

The inner degree of x (for G )is the valued(x) =|Γ−1(x)|

The degree of x (for G )is the valued(x) =d+(x) +d(x) Let G0 = (E,Γ) be an undirected graph

The degree of x for G0 is the number d(x) of edges that are adjacent to x

(56)

Degrees

Degree: exercise

Prove that the two following propositions hold true The sum of the degrees of the vertices of a graph is even

In any graph, there is an even number of vertices whose degree is odd

Références

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