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I see in this article (open-access version) that they define a Yao graph with k = 4, and that they define it as a directed graph (unlike the graph in the illustration which is undirected). Gabn1 (talk) 07:20, 21 June 2020 (UTC)
...They also cite another paper that says that the Yao graph can be computed in O(n log n) time using O(n) space. Gabn1 (talk) 07:22, 21 June 2020 (UTC)