On dimensional rigidity of bar-and-joint frameworks

Let V={1,2,…,n}. A mapping p:V→R^r, 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 R^r, 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 R^r is said to be dimensionally rigid iff there does not exist a framework G(q) in R^s for s?r+1, such that ∥qⁱ-q^j∥²=∥pⁱ-p^j∥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.