A set S of vertices in a graph G resolves G if every vertex is uniquely determined by its vector of distances to the vertices in S. The metric dimension of G is the minimum cardinality of a resolving set of G. This paper studies the metric dimension of cartesian products G*H. We prove that the metric dimension of G*G is tied in a strong sense to the minimum order of a so-called doubly resolving set in G. Using bounds on the order of doubly resolving sets, we establish bounds on G*H for many examples of G and H. One of our main results is a family of graphs G with bounded metric dimension for which the metric dimension of G*G is unbounded

We show that planar graphs have bounded queue-number, thus proving a conjecture of Heath et al. [66] from 1992. The key to the proof is a new structural tool called layered partitions , and the result that every planar graph has a vertex-partition and a layering, such that each part has a bounded number of vertices in each layer, and the quotient graph has bounded treewidth. This result generalises for graphs of bounded Euler genus. Moreover, we prove that every graph in a minor-closed class has such a layered partition if and only if the class excludes some apex graph. Building on this work and using the graph minor structure theorem, we prove that every proper minor-closed class of graphs has bounded queue-number. Layered partitions have strong connections to other topics, including the following two examples. First, they can be interpreted in terms of strong products. We show that every planar graph is a subgraph of the strong product of a path with some graph of bounded treewidth. Similar statements hold for all proper minor-closed classes. Second, we give a simple proof of the result by DeVos et al. [31] that graphs in a proper minor-closed class have low treewidth colourings.

A \emph{queue layout} of a graph consists of a total order of the vertices, and a partition of the edges into \emph{queues}, such that no two edges in the same queue are nested. The minimum number of queues in a queue layout of a graph is its \emph{queue-number}. A \emph{three-dimensional (straight-line grid) drawing} of a graph represents the vertices by points in $\mathbb{Z}^3$ and the edges by non-crossing line-segments. This paper contributes three main results: (1) It is proved that the minimum volume of a certain type of three-dimensional drawing of a graph $G$ is closely related to the queue-number of $G$. In particular, if $G$ is an $n$-vertex member of a proper minor-closed family of graphs (such as a planar graph), then $G$ has a $O(1)\times O(1)\times O(n)$ drawing if and only if $G$ has O(1) queue-number. (2) It is proved that queue-number is bounded by tree-width, thus resolving an open problem due to Ganley and Heath (2001), and disproving a conjecture of Pemmaraju (1992). This result provides renewed hope for the positive resolution of a number of open problems in the theory of queue layouts. (3) It is proved that graphs of bounded tree-width have three-dimensional drawings with O(n) volume. This is the most general family of graphs known to admit three-dimensional drawings with O(n) volume. The proofs depend upon our results regarding \emph{track layouts} and \emph{tree-partitions} of graphs, which may be of independent interest.Comment: This is a revised version of a journal paper submitted in October 2002. This paper incorporates the following conference papers: (1) Dujmovic', Morin & Wood. Path-width and three-dimensional straight-line grid drawings of graphs (GD'02), LNCS 2528:42-53, Springer, 2002. (2) Wood. Queue layouts, tree-width, and three-dimensional graph drawing (FSTTCS'02), LNCS 2556:348--359, Springer, 2002. (3) Dujmovic' & Wood. Tree-partitions of $k$-trees with applications in graph layout (WG '03), LNCS 2880:205-217, 200

Graph separators are a ubiquitous tool in graph theory and computer science. However, in some applications, their usefulness is limited by the fact that the separator can be as large as Ω( √ n) in graphs with n vertices. This is the case for planar graphs, and more generally, for proper minor-closed classes. We study a special type of graph separator, called a layered separator, which may have linear size in n, but has bounded size with respect to a different measure, called the width. We prove, for example, that planar graphs and graphs of bounded Euler genus admit layered separators of bounded width. More generally, we characterise the minor-closed classes that admit layered separators of bounded width as those that exclude a fixed apex graph as a minor.We use layered separators to prove O(log n) bounds for a number of problems where O( √ n) was a long-standing previous best bound. This includes the nonrepetitive chromatic number and queue-number of graphs with bounded Euler genus. We extend these results with a O(log n) bound on the nonrepetitive chromatic number of graphs excluding a fixed topological minor, and a log O(1) n bound on the queue-number of graphs excluding a fixed minor. Only for planar graphs were log O(1) n bounds previously known. Our results imply that every n-vertex graph excluding a fixed minor has a 3-dimensional grid drawing with n log O(1) n volume, whereas the previous best bound was O(n 3/2 ).

Classes with bounded expansion, which generalise classes that exclude a topological minor, have recently been introduced by Nešetřil and Ossona de Mendez. These classes are defined by the fact that the maximum average degree of a shallow minor of a graph in the class is bounded by a function of the depth of the shallow minor. Several linear-time algorithms are known for bounded expansion classes (such as subgraph isomorphism testing), and they allow restricted homomorphism dualities, amongst other desirable properties.In this paper we establish two new characterisations of bounded expansion classes, one in terms of so-called topological parameters, the other in terms of controlling dense parts. The latter characterisation is then used to show that the notion of bounded expansion is compatible with Erdös-Rényi model of random graphs with constant average degree. In particular, we prove that for every fixed d > 0, there exists a class with bounded expansion, such that a random graph of order n and edge probability d/n asymptotically almost surely belongs to the class.We then present several new examples of classes with bounded expansion that do not exclude some topological minor, and appear naturally in the context of graph drawing or graph colouring. In particular, we prove that the following classes have bounded expansion: graphs that can be drawn in the plane with a bounded number of crossings per edge, graphs with bounded stack number, graphs with bounded queue number, and graphs with bounded non-repetitive chromatic number. We also prove that graphs with 'linear' crossing number are contained in a topologically-closed class, while graphs with bounded crossing number are contained in a minor-closed class.

A vertex colouring of a graph is nonrepetitive if there is no path whose first half receives the same sequence of colours as the second half. A graph is nonrepetitively ℓ-choosable if given lists of at least ℓ colours at each vertex, there is a nonrepetitive colouring such that each vertex is coloured from its own list. It is known that, for some constant c, every graph with maximum degree ∆ is c∆ 2 -choosable. We prove this result with c = 1 (ignoring lower order terms). We then prove that every subdivision of a graph with sufficiently many division vertices per edge is nonrepetitively 5-choosable. The proofs of both these results are based on the Moser-Tardos entropy-compression method, and a recent extension by Grytczuk, Kozik and Micek for the nonrepetitive choosability of paths. Finally we prove that graphs with pathwidth θ are nonrepetitively O(θ 2 )-colourable.

A set of vertices $S$ resolves a connected graph $G$ if every vertex is uniquely determined by its vector of distances to the vertices in $S$. The metric dimension of $G$ is the minimum cardinality of a resolving set of $G$. Let ${\cal G}_{\beta,D}$ be the set of graphs with metric dimension $\beta$ and diameter $D$. It is well-known that the minimum order of a graph in ${\cal G}_{\beta,D}$ is exactly $\beta+D$. The first contribution of this paper is to characterise the graphs in ${\cal G}_{\beta,D}$ with order $\beta+D$ for all values of $\beta$ and $D$. Such a characterisation was previously only known for $D\leq2$ or $\beta\leq1$. The second contribution is to determine the maximum order of a graph in ${\cal G}_{\beta,D}$ for all values of $D$ and $\beta$. Only a weak upper bound was previously known.

We study straight-line drawings of planar graphs with few segments and few slopes. Optimal results are obtained for all trees. Tight bounds are obtained for outerplanar graphs, 2-trees, and planar 3-trees. We prove that every 3-connected plane graph on n vertices has a plane drawing with at most 5 2 n segments and at most 2n slopes. We prove that every cubic 3-connected plane graph has a plane drawing with three slopes (and three bends on the outerface). In a companion paper, drawings of non-planar graphs with few slopes are also considered.