In statistics and Markov modeling, an ancestral graph is a type of mixed graph with three kinds of edges: directed edges, drawn as an arrow from one vertex to another, bidirected edges, which have an arrowhead at both ends, and undirected edges, which have no arrowheads. It is required to satisfy some additional constraints:
- If there is an edge from a vertex u to another vertex v, with an arrowhead at v (that is, either an edge directed from u to v or a bidirected edge), then there does not exist a path from v to u consisting of undirected edges and/or directed edges oriented consistently with the path.
- If a vertex is an endpoint of an undirected edge, then it is not also the endpoint of an edge with an arrowhead at v.
- Richardson, Thomas; Spirtes, Peter (2002), "Ancestral graph Markov models", The Annals of Statistics 30 (4): 962–1030, doi:10.1214/aos/1031689015, MR 1926166.
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