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A bar-joint framework $(G,p)$ in $mathbb{R}^d$ is rigid if the only edge-length preserving continuous motions of the vertices arise from isometries of $mathbb{R}^d$. It is known that, when $(G,p)$ is generic, its rigidity depends only on the underlying graph $G$, and is determined by the rank of the edge set of $G$ in the generic $d$-dimensional rigidity matroid $mathcal{R}_d$. Complete combinatorial descriptions of the rank function of this matroid are known when $d=1,2$, and imply that all circuits in $mathcal{R}_d$ are generically rigid in $mathbb{R}^d$ when $d=1,2$. Determining the rank function of $mathcal{R}_d$ is a long standing open problem when $dgeq 3$, and the existence of non-rigid circuits in $mathcal{R}_d$ for $dgeq 3$ is a major contributing factor to why this problem is so difficult. We begin a study of non-rigid circuits by characterising the non-rigid circuits in $mathcal{R}_d$ which have at most $d+6$ vertices.
Motivated by a rigidity-theoretic perspective on the Localization Problem in 2D, we develop an algorithm for computing circuit polynomials in the algebraic rigidity matroid associated to the Cayley-Menger ideal for $n$ points in 2D. We introduce comb
A linearly constrained framework in $mathbb{R}^d$ is a point configuration together with a system of constraints which fixes the distances between some pairs of points and additionally restricts some of the points to lie in given affine subspaces. It
We show that a generic framework $(G,p)$ on the cylinder is globally rigid if and only if $G$ is a complete graph on at most four vertices or $G$ is both redundantly rigid and $2$-connected. To prove the theorem we also derive a new recursive constru
We consider the problem of characterising the generic rigidity of bar-joint frameworks in $mathbb{R}^d$ in which each vertex is constrained to lie in a given affine subspace. The special case when $d=2$ was previously solved by I. Streinu and L. Ther
A simple graph is $3$-rigid if its generic bar-joint frameworks in $R^3$ are infinitesimally rigid. Necessary and sufficient conditions are obtained for the minimal $3$-rigidity of a simple graph which is obtained from the $1$-skeleton of a triangula