Maxwell-Laman counts for bar-joint frameworks in normed spaces

The rigidity matrix is a fundamental tool for studying the infinitesimal rigidity properties of Euclidean bar-joint frameworks. In this paper we generalize this tool and introduce a rigidity matrix for bar-joint frameworks in arbitrary finite dimensional real normed vector spaces. Using this new matrix, we derive necessary Maxwell-Laman-type counting conditions for a well-positioned bar-joint framework in a real normed vector space to be infinitesimally rigid. Moreover, we derive symmetry-extended counting conditions for a bar-joint framework with a non-trivial symmetry group to be isostatic (i.e., minimally infinitesimally rigid). These conditions imply very simply stated restrictions on the number of those structural components that are fixed by the various symmetry operations of the framework. Finally, we offer some observations and conjectures regarding combinatorial characterisations of 2-dimensional symmetric, isostatic bar-joint frameworks where the unit ball is a quadrilateral.Comment: 17 page

On dimensional rigidity of bar-and-joint frameworks

AbstractLet V={1,2,…,n}. A mapping p:V→Rr, where p1,…,pn are not contained in a proper hyper-plane is called an r-configuration. Let G=(V,E) be a simple connected graph on n vertices. Then an r-configuration p together with graph G, where adjacent vertices of G are constrained to stay the same distance apart, is called a bar-and-joint framework (or a framework) in Rr, and is denoted by G(p). In this paper we introduce the notion of dimensional rigidity of frameworks, and we study the problem of determining whether or not a given G(p) is dimensionally rigid. A given framework G(p) in Rr is said to be dimensionally rigid iff there does not exist a framework G(q) in Rs for s⩾r+1, such that ∥qi-qj∥2=∥pi-pj∥2 for all (i,j)∈E. We present necessary and sufficient conditions for G(p) to be dimensionally rigid, and we formulate the problem of checking the validity of these conditions as a semidefinite programming (SDP) problem. The case where the points p1,…,pn of the given r-configuration are in general position, is also investigated

Finite and infinitesimal rigidity with polyhedral norms

We characterise finite and infinitesimal rigidity for bar-joint frameworks in R^d with respect to polyhedral norms (i.e. norms with closed unit ball P a convex d-dimensional polytope). Infinitesimal and continuous rigidity are shown to be equivalent for finite frameworks in R^d which are well-positioned with respect to P. An edge-labelling determined by the facets of the unit ball and placement of the framework is used to characterise infinitesimal rigidity in R^d in terms of monochrome spanning trees. An analogue of Laman's theorem is obtained for all polyhedral norms on R^2.Comment: 26 page

On universally rigid frameworks on the line

A $d$-dimensional bar-and-joint framework $(G,p)$ with underlying graph $G$ is called universally rigid if all realizations of $G$ with the same edge lengths, in all dimensions, are congruent to $(G,p)$. We give a complete characterization of universally rigid one-dimensional bar-and-joint frameworks in general position with a complete bipartite underlying graph. We show that the only bipartite graph for which all generic $d$-dimensional realizations are universally rigid is the complete graph on two vertices, for all $d\geq 1$. We also discuss several open questions concerning generically universally rigid graphs and the universal rigidity of general frameworks on the line.

Rigidity of Frameworks Supported on Surfaces

A theorem of Laman gives a combinatorial characterisation of the graphs that admit a realisation as a minimally rigid generic bar-joint framework in \bR^2. A more general theory is developed for frameworks in \bR^3 whose vertices are constrained to move on a two-dimensional smooth submanifold \M. Furthermore, when \M is a union of concentric spheres, or a union of parallel planes or a union of concentric cylinders, necessary and sufficient combinatorial conditions are obtained for the minimal rigidity of generic frameworks.Comment: Final version, 28 pages, with new figure

Rigidity of frameworks with coordinated constraint relaxations

This thesis is concerned with the rigidity of coordinated frameworks. These are considered to be bar-joint frameworks for which the requirement that the lengths of bars be kept fixed is relaxed on some collection of bars, with the caveat that all bars within a coordination class must change length by the same amount. We begin by formulating the conditions for a framework to be continuously coordinated rigid, infinitesimally coordinated rigid, and statically coordinated rigid. We prove that static and infinitesimal rigidity are equivalent for coordinated frameworks, and that for regular coordinated frameworks, continuous rigidity and infinitesimal rigidity are equivalent. We give a characterisation of the rigidity of frameworks in d-dimensional Euclidean space with k coordination classes, based on the rigidity of the structure graph of such a framework. Since minimal infinitesimal rigidity of bar-joint frameworks is characterised in 1- and 2-dimensions, we extend the standard characterisations to a combinatorial characterisation of minimally infinitesimally rigid frameworks with one class of coordinated bars, and with two classes of coordinated bars, in both dimension 1 and dimension 2. We also obtain an inductive characterisation of such minimally infinitesimally rigid frameworks using coordinated analogues to standard inductive constructions. We conclude by considering coordinated frameworks with symmetric realisations, and give some initial results in this area

Abstract 3-Rigidity and Bivariate C½-Splines II: Combinatorial Characterization

We showed in the first paper of this series that the generic C1-cofactor matroid is the unique maximal abstract 3-rigidity matroid. In this paper we obtain a combinatorial characterization of independence in this matroid. This solves the cofactor counterpart of the combinatorial characterization problem for the rigidity of generic 3-dimensional bar-joint frameworks. We use our characterization to verify that the counterparts of conjectures of Dress (on the rank function) and Lovász and Yemini (which suggested a sufficient connectivity condition for rigidity) hold for the C1-cofactor matroid

Abstract 3-Rigidity and Bivariate C21C_2^1-Splines II: Combinatorial Characterization

We showed in the first paper of this series that the generic $C_2^1$-cofactor matroid is the unique maximal abstract $3$-rigidity matroid. In this paper we obtain a combinatorial characterization of independence in this matroid. This solves the cofactor counterpart of the combinatorial characterization problem for the rigidity of generic 3-dimensional bar-joint frameworks. We use our characterization to verify that the counterparts of conjectures of Dress (on the rank function) and Lov\'{a}sz and Yemini (which suggested a sufficient connectivity condition for rigidity) hold for this matroid