ar X iv : 0 71 0 . 09 26 v 3 [ m at h . M G ] 2 8 Fe b 20 08 CHARACTERIZING GENERIC GLOBAL RIGIDITY

نویسندگان

  • STEVEN J. GORTLER
  • ALEXANDER D. HEALY
چکیده

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. The condition comes from considering the geometry of the length-squared mapping ℓ; essentially, 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.

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تاریخ انتشار 2008