Laman's Theorem
Let a Graph 
have exactly 
Edges, where 
is the numberof Vertices in . Then is ``generically'' Rigid in 
Iff 
for every Subgraph of having 
Vertices and 
Edges.
References
Laman, G. ``On Graphs and Rigidity of Plane Skeletal Structures.'' J. Engineering Math. 4, 331-340, 1970.
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