RigidityofGraphsandFrameworksRigidFrameworks.PDFVIP

Rigidity of Graphs and Frameworks Rigid Frameworks The Rigidity Matrix and the Rigidity Matroid Infinitesimally Rigid Frameworks Rigid Graphs d Rigidity in , d 12 d Global Rigidity in , d 12 1 Frameworks in d A framework in d is a pair Gp , where G VE is a graph and p is a map from V d to . We consider the framework to be a straight line embedding of G in d in which the length of an edge uv E is given by the Euclidean distance between the points p u and p v. d We say that Gp is a realisation of G in . 2 Rigid Frameworks Let Gp and Gq be frameworks. Then: Gp and Gq are equivalent if they have the same edge lengths. Gp and Gq are congruent if p u p v qu qv for all uv V. Gp is rigid if there exists an ε 0 such that every framework Gq which is equivalent to Gp and satisfies p v qv ε for all v V, is congruent to Gp . (This is equivalent to saying that there is no ‘smooth deformation’ of Gp which preserves the lengths of all its edges.) Gp is globally rigid if every framework Gq which is equivalent to Gp , is congruent to Gp . 3