The number of embeddings of minimally rigid graphs (Q1880218)

Minimally rigid graphs may be realized as frameworks in Euclidean space of a given dimension such that the corresponding framework is locally unique, but usually not globally unique, i.e., given the edge lenths of some rigid framework, there are usually noncongruent realizations of the same graph with corresponding edges of the same length. The authors show that for a minimally rigid graph on \(n\) vertices the number of noncongruent embeddings in the Euclidean plane is at most order of \(4^n\). This bound is derived using techniques from complex algebraic geometry which can easily be adapted to higher dimensions as well as the non-Euclidean case. To exhibit families of graphs on \(n\) vertices which are minimally rigid in the plane but have \(2.8^n\) distinct embeddings (without altering edge lengths) the authors use the interesting idea of a floating center to show that the Desargues graph (triangular prism) has, for certain edge lengths, 24 embeddings in the plane. One vertex of the Desargues framework is removed and the motion of the resulting degree of freedom 1 mechanism is studied. The figures are intriguing. Desargues graphs glued together along edges in a tree like fashion yield the bound.