The complexity of computing optimum labelings for temporal connectivity

In this paper we study temporal design problems of undirected temporally connected graphs. The basic setting of these optimization problems is as follows: given an undirected graph $G$, what is the smallest number $|\lambda|$ of time-labels that we need to add to the edges of $G$ such that the resulting temporal graph $(G,\lambda)$ is temporally connected? As we prove, this basic problem, called MINIMUM LABELING, can be optimally solved in polynomial time, thus resolving an open question. The situation becomes however more complicated if we strengthen, or even if we relax a bit, the requirement of temporal connectivity of $(G,\lambda)$. One way to strengthen the temporal connectivity requirements is to upper-bound the allowed age (i.e., maximum label) of the obtained temporal graph $(G,\lambda)$. On the other hand, we can relax temporal connectivity by only requiring that there exists a temporal path between any pair of ``important'' vertices which lie in a subset $R\subseteq V$, which we call the terminals. This relaxed problem, called MINIMUM STEINER LABELING, resembles the problem STEINER TREE in static (i.e., non-temporal) graphs; however, as it turns out, STEINER TREE is not a special case of MINIMUM STEINER LABELING. We prove that MINIMUM STEINER LABELING is NP-hard and in FPT with respect to the number $|R|$ of terminals. Moreover, we prove that, adding the age restriction makes the above problems strictly harder (unless P=NP or W[1]=FPT). More specifically, we prove that the age-restricted version of MINIMUM LABELING becomes NP-complete on undirected graphs, while the age-restricted version of MINIMUM STEINER LABELING becomes W[1]-hard with respect to the number $|R|$ of terminals.