An exact algorithm for the Euclidean k-Steiner tree problem

The Euclidean k-Steiner tree problem asks for a minimum-cost network connecting n given points in the plane, allowing at most k additional nodes referred to as Steiner points. In the classical Steiner tree problem in which there is no restriction on the number of nodes, every Steiner point must be of degree 3. The k-Steiner problem differs in that Steiner points of degree 4 may be included in an optimal solution. This simple change leads to a number of complexities when attempting to create a generation algorithm for optimal k-Steiner trees, which has proven to be a powerful component of the flagship algorithm, namely GeoSteiner, for solving the classical Steiner tree problem. In the present paper we firstly extend the basic framework of GeoSteiner's generation algorithm to include degree-4 Steiner points. We then introduce a number of novel results restricting the structural and geometric properties of optimal k-Steiner trees, and then show how these properties may be used as topological pruning methods underpinning our generation algorithm. Finally, we present experimental data to show the effectiveness of our pruning methods in reducing the number of sub-optimal solution topologies.