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Let $mathcal{A}={{bf a}_1,ldots,{bf a}_n}subsetBbb{N}^m$. We give an algebraic characterization of the universal Markov basis of the toric ideal $I_{mathcal{A}}$. We show that the Markov complexity of $mathcal{A}={n_1,n_2,n_3}$ is equal to two if $I_{mathcal{A}}$ is complete intersection and equal to three otherwise, answering a question posed by Santos and Sturmfels. We prove that for any $rgeq 2$ there is a unique minimal Markov basis of $mathcal{A}^{(r)}$. Moreover, we prove that for any integer $l$ there exist integers $n_1,n_2,n_3$ such that the Graver complexity of $mathcal{A}$ is greater than $l$.
Computing the complexity of Markov bases is an extremely challenging problem; no formula is known in general and there are very few classes of toric ideals for which the Markov complexity has been computed. A monomial curve $C$ in $mathbb{A}^3$ has M
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