Mathematics – Metric Geometry
Scientific paper
2007-10-04
American Journal of Mathematics, 132 (2010), no. 4, 897--939
Mathematics
Metric Geometry
35 pages; v5: Corrections in treatment of genericity
Scientific paper
10.1016/j.adhoc.2011.06.016
A d-dimensional framework is a graph and a map from its vertices to E^d. Such a framework is globally rigid if it is the only framework in E^d with the same graph and edge lengths, up to rigid motions. For which underlying graphs is a generic framework globally rigid? We answer this question by proving a conjecture by Connelly, that his sufficient condition is also necessary: a generic framework is globally rigid if and only if it has a stress matrix with kernel of dimension d+1, the minimum possible. An alternate version of the condition comes from considering the geometry of the length-squared mapping l: the graph is generically locally rigid iff the rank of l is maximal, and it is generically globally rigid iff the rank of the Gauss map on the image of l is maximal. We also show that this condition is efficiently checkable with a randomized algorithm, and prove that if a graph is not generically globally rigid then it is flexible one dimension higher.
Gortler Steven J.
Healy Alexander D.
Thurston Dylan P.
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