On the Number of Embeddings of Minimally Rigid Graphs

Rigid frameworks in some Euclidian space are embedded graphs having a unique local realization (up to Euclidian motions) for the given edge lengths, although globally they may have several. We study the number of distinct planar embeddings of minimally rigid graphs with $n$ vertices. We show that, modulo planar rigid motions, this number is at most ${{2n-4}\choose {n-2}} \approx 4^n$. We also exhibit several families which realize lower bounds of the order of $2^n$, $2.21^n$ and $2.88^n$. For the upper bound we use techniques from complex algebraic geometry, based on the (projective) Cayley-Menger variety $CM^{2,n}(C)\subset P_{{{n}\choose {2}}-1}(C)$ over the complex numbers $C$. In this context, point configurations are represented by coordinates given by squared distances between all pairs of points. Sectioning the variety with $2n-4$ hyperplanes yields at most $deg(CM^{2,n})$ zero-dimensional components, and one finds this degree to be $D^{2,n}={1/2}{{2n-4}\choose {n-2}}$. The lower bounds are related to inductive constructions of minimally rigid graphs via Henneberg sequences. The same approach works in higher dimensions. In particular we show that it leads to an upper bound of $2 D^{3,n}= {\frac{2^{n-3}}{n-2}}{{n-6}\choose{n-3}}$ for the number of spatial embeddings with generic edge lengths of the 1-skeleton of a simplicial polyhedron, up to rigid motions

Characterization and enumeration of toroidal K_{3,3}-subdivision-free graphs

We describe the structure of 2-connected non-planar toroidal graphs with no K_{3,3}-subdivisions, using an appropriate substitution of planar networks into the edges of certain graphs called toroidal cores. The structural result is based on a refinement of the algorithmic results for graphs containing a fixed K_5-subdivision in [A. Gagarin and W. Kocay, "Embedding graphs containing K_5-subdivisions'', Ars Combin. 64 (2002), 33-49]. It allows to recognize these graphs in linear-time and makes possible to enumerate labelled 2-connected toroidal graphs containing no K_{3,3}-subdivisions and having minimum vertex degree two or three by using an approach similar to [A. Gagarin, G. Labelle, and P. Leroux, "Counting labelled projective-planar graphs without a K_{3,3}-subdivision", submitted, arXiv:math.CO/0406140, (2004)].Comment: 18 pages, 7 figures and 4 table

The obstructions for toroidal graphs with no K3,3K_{3,3}'s

Forbidden minors and subdivisions for toroidal graphs are numerous. We consider the toroidal graphs with no $K_{3,3}$-subdivisions that coincide with the toroidal graphs with no $K_{3,3}$-minors. These graphs admit a unique decomposition into planar components and have short lists of obstructions. We provide the complete lists of four forbidden minors and eleven forbidden subdivisions for the toroidal graphs with no $K_{3,3}$'s and prove that the lists are sufficient.Comment: 10 pages, 7 figures, revised version with additional detail