CHARACTERIZING GENERIC GLOBAL RIGIDITY

A d-dimensional framework is a graph and a map from its vertices to E d . Such a frame-work 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.