New upper bounds for the number of embeddings of minimally rigid graphs
Résumé
By definition, a rigid graph in Rd (or on a sphere) has a finite number of embeddings up
to rigid motions for a given set of edge length constraints. These embeddings are related to
the real solutions of an algebraic system. Naturally, the complex solutions of such systems
extend the notion of rigidity to Cd. A major open problem has been to obtain tight upper
bounds on the number of embeddings in Cd, for a given number |V | of vertices, which
obviously also bound their number in Rd. Moreover, in most known cases, the maximal
numbers of embeddings in Cd and Rd coincide. For decades, only the trivial bound of
O(2d·|V |) was known on the number of embeddings. Recently, matrix permanent bounds
have led to a small improvement for d ≥ 5. This work improves upon the existing upper bounds for the number of embeddings in Rd and Sd, by exploiting outdegree-constrained orientations on a graphical construction, where the proof iteratively eliminates vertices or vertex paths. For the most important
cases of d = 2 and d = 3, the new bounds are O(3.7764|V |) and O(6.8399|V |), respectively. In general, the recent asymptotic bound mentioned above is improved by a factor of 1/√2. Besides being the first substantial improvement upon a long-standing upper bound, our method is essentially the first general approach relying on combinatorial arguments rather than algebraic root counts.