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WallGo is an open source software for the computation of the bubble wall velocity in first-order cosmological phase transitions. It also computes the energy budget available for the generation of gravitational waves. The main part of WallGo, built in Python, determines the wall velocity by solving the scalar-field(s) equation of motion, the Boltzmann equations and energy-momentum conservation for the fluid velocity and temperature. WallGo also includes two auxiliary modules: WallGoMatrix, which computes matrix elements for out-of-equilibrium particles, and WallGoCollision, which performs higher-dimensional integrals for Boltzmann collision terms. Users can implement custom models by defining an effective potential and specifying a list of out-of-equilibrium particles and their interactions. As the first public software to compute the wall velocity including out-of-equilibrium contributions, WallGo improves the precision of the computation compared to common assumptions in earlier computations. It utilises a spectral method for the deviation from equilibrium and collision terms that provides exponential convergence in basis polynomials, and supports multiple out-of-equilibrium particles, allowing for Boltzmann mixing terms. WallGo is tailored for non-runaway wall scenarios where leading-order coupling effects dominate friction. While this work introduces the software and the underlying theory, a more detailed documentation can be found in https://wallgo.readthedocs.io., Comment: 69 pages, 8 figures

Steffen's polyhedron was believed to have the least number of vertices among polyhedra that can flex without self-intersections. Maksimov clarified that the pentagonal bipyramid with one face subdivided into three is the only polyhedron with fewer vertices for which the existence of a self-intersection-free flex was open. Since subdividing a face into three does not change the mobility, we focus on flexible pentagonal bipyramids. When a bipyramid flexes, the distance between the two opposite vertices of the two pyramids changes; associating the position of the bipyramid to this distance yields an algebraic map that determines a nontrivial extension of rational function fields. We classify flexible pentagonal bipyramids with respect to the Galois group of this field extension and provide examples for each class, building on a construction proposed by Nelson. Surprisingly, one of our constructions yields a flexible pentagonal bipyramid that can be extended to an embedded flexible polyhedron with 8 vertices. The latter hence solves the open question., Comment: 31 pages

This paper focuses on studying the configuration spaces of graphs realised in $\mathbb C^2$, such that the configuration space is, after normalisation, one dimensional. If this is the case, then the configuration space is, generically, a smooth complex curve, and can be seen as a Riemann surface. The property of interest in this paper is the genus of this curve. Using tropical geometry, we give an algorithm to compute this genus. We provide an implementation in Python and give various examples.

Any continuous piecewise-linear function $F\colon \mathbb{R}^{n}\to \mathbb{R}$ can be represented as a linear combination of $\max$ functions of at most $n+1$ affine-linear functions. In our previous paper [``Representing piecewise linear functions by functions with small arity'', AAECC, 2023], we showed that this upper bound of $n+1$ arguments is tight. In the present paper, we extend this result by establishing a correspondence between the function $F$ and the minimal number of arguments that are needed in any such decomposition. We show that the tessellation of the input space $\mathbb{R}^{n}$ induced by the function $F$ has a direct connection to the number of arguments in the $\max$ functions.

We complete the perturbative program for equilibrium thermodynamics of cosmological first-order phase transitions by determining the finite-temperature effective potential of gauge-Higgs theories at next-to-next-to-next-to-next-to-leading order (N$^4$LO). The computation of the three-loop effective potential required to reach this order is extended to generic models in dimensionally reduced effective theories in a companion article. Our N$^4$LO result is the last perturbative order before confinement renders electroweak gauge-Higgs theories non-perturbative at four loops. By contrasting our analysis with non-perturbative lattice results, we find a remarkable agreement. As a direct application for predictions of gravitational waves produced by a first-order transition, our computation provides the final fully perturbative results for the phase transition strength and speed of sound., Comment: 20 pages; 6 figures; 4 tables

Different computational techniques for cosmological phase transition parameters can impact the Gravitational Wave (GW) spectra predicted in a given particle physics model. To scrutinize the importance of this effect, we perform large-scale parameter scans of the dynamical real-singlet extended Standard Model using three perturbative approximations for the effective potential: the $\overline{\rm MS}$ and on-shell schemes at leading order, and three-dimensional thermal effective theory (3D EFT) at next-to-leading order. While predictions of GW amplitudes are typically unreliable in the absence of higher-order corrections, we show that the reconstructed model parameter spaces are robust up to a few percent in uncertainty. While 3D EFT is accurate from one loop order, theoretical uncertainties of reconstructed model parameters, using four-dimensional standard techniques, remain dominant over the experimental ones even for signals merely strong enough to claim a detection by LISA., Comment: 13 pages, 5 figures

For a given graph whose edges are labeled with general real numbers, we consider the set of functions from the vertex set into the Euclidean plane such that the distance between the images of neighbouring vertices is equal to the corresponding edge label. This set of functions can be expressed as the zero set of quadratic polynomials and our main result characterizes the number of complex irreducible components of this zero set in terms of combinatorial properties of the graph. In case the complex components are three-dimensional, then the graph is minimally rigid and the component number is a well-known invariant from rigidity theory. If the components are four-dimensional, then they correspond to one-dimensional coupler curves of flexible planar mechanisms. As an application, we characterize the degree of irreducible components of such coupler curves combinatorially.

This is an expository paper. The geometry of phylogenetic trees is used to present in an accessible and pleasant fashion the results of Deligne, Mumford, and Knudsen about the moduli space of n distinct points on the projective line and its compactification, the moduli space of n-pointed stable curves of genus zero., Comment: 60 pages, 30 figures

High-energy particles traversing the Quark-Gluon plasma experience modified (massive) dispersion, although their vacuum mass is negligible compared to the kinetic energy. Due to poor convergence of the perturbative series in the regime of soft loop momenta, a more precise determination of this effective mass is needed. This paper continues our investigation on the factorisation between strongly-coupled infrared classical and perturbative ultraviolet behavior. The former has been studied non-perturbatively within EQCD by determining a non-local operator on the lattice. By computing the temperature-scale contribution to the same operator in 4D QCD at next-to-leading order (NLO), we remove the ultraviolet divergence of the EQCD calculation with an opposite infrared divergence from the hard thermal scale. The result is a consistent, regulator-independent determination of the classical contribution where the emergence of new divergences signals sensitivities to new regions of phase space. We address the numerical impact of the classical and NLO thermal corrections on the convergence of the factorised approach and on the partial applicability of our results to calculations of transport coefficients., Comment: 42 pages, 2 figures, 2 tables. v2: clarifications added, minor typographical fixes, matches JHEP version

It is known that a camera can be calibrated using three pictures of either squares, spheres, or surfaces of revolution. We give a new method to calibrate a camera with the picture of a single torus.

We introduce a recursive procedure for computing the number of realizations of a minimally rigid graph on the sphere up to rotations. We accomplish this by combining two ingredients. The first is a framework that allows us to think of such realizations as of elements of a moduli space of stable rational curves with marked points. The second is the idea of splitting a minimally rigid graph into two subgraphs, called calligraphs, that admit one degree of freedom and that share only a single edge and a further vertex. This idea has been recently employed for realizations of graphs in the plane up to isometries. The key result is that we can associate to a calligraph a triple of natural numbers with a special property: whenever a minimally rigid graph is split into two calligraphs, the number of realizations of the former equals the product of the two triples of the latter, where this product is specified by a fixed quadratic form. These triples and quadratic form codify the fact that we express realizations as intersections of two curves on the blowup of a sphere along two pairs of complex conjugate points.

We present an algorithm for constructing a map $\mathbb{P}^2\to\mathbb{P}^2$ with a given branching curve. The stepping stone is the ramification curve, which is obtained as the linear normalization of the branching curve.

The in-medium dispersion of hard partons, encoded in their so-called asymptotic mass, receives large non-perturbative contributions from classical gluons, i.e. soft gluons with large occupation numbers. Here, we discuss how the analytical properties of thermal amplitudes allow for a non-perturbative determination of the infrared classical contribution through lattice determinations in the dimensionally-reduced effective theory of hot QCD, EQCD. We show how these lattice determinations need to be complemented by perturbative two-loop matching calculations between EQCD and QCD, so that the unphysical (classical) ultraviolet behavior of EQCD is replaced by its proper quantum QCD counterpart. We show how lattice and perturbative EQCD are in good agreement in the UV and present an outlook on the two-loop quantum QCD contribution., Comment: 6 pages, to appear in the proceedings of Hard Probes 2023

For every graph that is mimimally rigid in the plane, its Galois group is defined as the Galois group generated by the coordinates of its planar realizations, assuming that the edge lengths are transcendental and algebraically independent. Here we compute the Galois group of all minimally rigid graphs that can be constructed from a single edge by repeated Henneberg 1-steps. It turns out that any such group is totally imprimitive, i.e., it is determined by all the partitions it preserves.

A piecewise linear function can be described in different forms: as an arbitrarily nested expression of $\min$- and $\max$-functions, as a difference of two convex piecewise linear functions, or as a linear combination of maxima of affine-linear functions. In this paper, we provide two main results: first, we show that for every piecewise linear function there exists a linear combination of $\max$-functions with at most $n+1$ arguments, and give an algorithm for its computation. Moreover, these arguments are contained in the finite set of affine-linear functions that coincide with the given function in some open set. Second, we prove that the piecewise linear function $\max(0, x_{1}, \ldots, x_{n})$ cannot be represented as a linear combination of maxima of less than $n+1$ affine-linear arguments. This was conjectured by Wang and Sun in 2005 in a paper on representations of piecewise linear functions as linear combination of maxima.

Both nonzero temperature and chemical potentials break the Lorentz symmetry present in vacuum quantum field theory by singling out the rest frame of the heat bath. This leads to complications in the application of thermal perturbation theory, including the appearance of novel infrared divergences in loop integrals and an apparent absence of four-dimensional integration-by-parts (IBP) identities, vital for high-order computations. Here, we propose a new strategy that enables the use of IBP techniques in the evaluation of Feynman integrals, in particular vacuum or bubble diagrams, in the limit of vanishing temperature $T$ but nonzero chemical potentials $\mu$. The central elements of the new setup include a contour representation for the temporal momentum integral, the use of a small but nonzero $T$ as an IR regulator, and the systematic application of both temporal and spatial differential operators in the generation of linear relations among the loop integrals of interest. The relations we derive contain novel inhomogeneous terms featuring differentiated Fermi-Dirac distribution functions, which severely complicate calculations at nonzero temperature, but are shown to reduce to solvable lower-dimensional objects as $T$ tends to zero. Pedagogical example computations are kept at the one- and two-loop levels, but the application of the new method to higher-order calculations is discussed in some detail., Comment: 48 pages, 1 figure, structural revisions and clarifications added, matches published version (v3)

Classically conformal Standard Model extensions predict an intriguing thermal history of the early universe. In contrast to the common paradigm, the onset of the electroweak phase transition can be significantly delayed while the universe undergoes a period of thermal inflation. Then, a first-order chiral phase transition could not only trigger electroweak symmetry breaking but also initiate the exit from supercooling. To study the dynamics of this scenario, we focus on low-energy quark-based QCD effective models that exhibit a first-order transition. While a large amount of latent heat is naturally involved if thermal inflation ends, we find that a supercooling period prior to the QCD scale considerably enhances the timescale of the transition. This enhancement implies great observational prospects at future gravitational wave observatories. Our results are readily applicable to a wide class of scale-invariant SM extensions, as well as strongly coupled dark sectors., Comment: 13 pages + appendix, 11 figures. v2: Minor revisions, results unchanged. Matches published version

Phase transitions in a non-perturbative regime can be studied by ab initio Lattice Field Theory methods. The status and future research directions for LFT investigations of Quantum Chromo-Dynamics under extreme conditions are reviewed, including properties of hadrons and of the hypothesized QCD axion as inferred from QCD topology in different phases. We discuss phase transitions in strong interactions in an extended parameter space, and the possibility of model building for Dark Matter and Electro-Weak Symmetry Breaking. Methodological challenges are addressed as well, including new developments in Artificial Intelligence geared towards the identification of different phases and transitions., Comment: 94 pages, 23 figures, GGI workshop "Phase Transitions in Particle Physics" review - v2: minor revisions and typo corrected, matches accepted version on PPNP

The task of recognizing an algebraic surface from a single apparent contour can be reduced to the recovering of a homogeneous equation in four variables from its discriminant. In this paper, we use the fact that Darboux cyclides have a singularity along the absolute conic in order to recognize them up to Euclidean similarity transformations., Comment: 15 pages, 14 figures

Beyond the Standard Model physics is required to explain both dark matter and the baryon asymmetry of the universe, the latter possibly generated during a strong first-order electroweak phase transition. While many proposed models tackle these problems independently, it is interesting to inquire whether the same model can explain both. In this context, we link state-of-the-art perturbative assessments of the phase transition thermodynamics with the extraction of the dark matter energy density. These techniques are applied to a next-to-minimal dark matter model containing an inert Majorana fermion that is coupled to Standard Model leptons via a scalar mediator, where the mediator interacts directly with the Higgs boson. For dark matter masses 180 GeV $ < M_\chi <$ 300 GeV, we discern regions of the model parameter space that reproduce the observed dark matter energy density and allow for a first-order phase transition, while evading the most stringent collider constraints., Comment: 54 pages, 12 figures, 1 table; v2: Journal version, extended section 3.2

DRalgo is an algorithmic implementation that constructs an effective, dimensionally reduced, high-temperature field theory for generic models. The corresponding Mathematica package automatically performs the matching to next-to-leading order. This includes two-loop thermal corrections to scalar and Debye masses as well as one-loop thermal corrections to couplings. DRalgo also allows for integrating out additional heavy scalars. Along the way, the package provides leading-order beta functions for general gauge-charges and fermion-families; both in the fundamental and in the effective theory. Finally, the package computes the finite-temperature effective potential within the effective theory. The article explains the theory of the underlying algorithm while introducing the software on a pedagogical level., Comment: 46 pages, 4 figures

We determine the pressure of a cold and dense electron gas to a nearly complete next-to-next-to-next-to-leading order (N$^3$LO) in the fine-structure constant $\alpha_e$, utilizing a new result for the two-loop photon self-energy from a companion paper. Our result contains all infrared-sensitive contributions to the pressure at this order, including the coefficient of the $O(\alpha_e^3 \ln \alpha_e^{ })$ term, and leaves only a single coefficient associated with the contributions of unresummed hard momenta undetermined. Moreover, we explicitly demonstrate the complete cancellation of infrared divergences according to the effective field theory paradigm by determining part of the hard contributions at this order. Our calculation provides the first improvement to a 45-year-old milestone result and demonstrates the feasibility of the corresponding N$^3$LO calculation for cold and dense quark matter., Comment: 6 pages (main text), 6 pages (supplemental material) and 3 figures

We present the first complete calculation of the soft photon self-energy to the next-to-leading order in a hot and/or dense ultrarelativistic plasma in Quantum Electrodynamics (QED). The calculation is performed within the real-time formalism utilizing dimensional regularization in $4-2\epsilon$ dimensions, while the result is reported including explicit $O(\epsilon)$ terms in the zero-temperature limit. This information is required to extend the perturbative calculation of the pressure of cold and dense QED matter to partial next-to-next-to-next-to-leading order in a weak-coupling expansion, reported in a companion paper. These results pave the way for a similar future calculation in Quantum Chromodynamics., Comment: 46 pages, 11 figures

For computing thermodynamics of the electroweak phase transition, we discuss a minimal approach that reconciles both gauge invariance and thermal resummation. Such a minimal setup consists of a two-loop dimensional reduction to three-dimensional effective theory, a one-loop computation of the effective potential and its expansion around the leading-order minima within the effective theory. This approach is tractable and provides formulae for resummation that are arguably no more complicated than those that appear in standard techniques ubiquitous in the literature. In particular, we implement renormalisation group improvement related to the hard thermal scale. Despite its generic nature, we present this approach for the complex singlet extension of the Standard Model which has interesting prospects for high energy collider phenomenology and dark matter predictions. The presented expressions can be used in future studies of phase transition thermodynamics and gravitational wave production., Comment: 38 pages, 5 figures, no gauge dependence

A tri-linear rational map in dimension three is a rational map $\phi: (\mathbb{P}_\mathbb{C}^1)^3 \dashrightarrow \mathbb{P}_\mathbb{C}^3$ defined by four tri-linear polynomials without a common factor. If $\phi$ admits an inverse rational map $\phi^{-1}$, it is a tri-linear birational map. In this paper, we address computational and geometric aspects about these transformations. We give a characterization of birationality based on the first syzygies of the entries. More generally, we describe all the possible minimal graded free resolutions of the ideal generated by these entries. With respect to geometry, we show that the set $\mathfrak{Bir}_{(1,1,1)}$ of tri-linear birational maps, up to composition with an automorphism of $\mathbb{P}_\mathbb{C}^3$, is a locally closed algebraic subset of the Grassmannian of $4$-dimensional subspaces in the vector space of tri-linear polynomials, and has eight irreducible components. Additionally, the group action on $\mathfrak{Bir}_{(1,1,1)}$ given by composition with automorphisms of $(\mathbb{P}_\mathbb{C}^1)^3$ defines 19 orbits, and each of these orbits determines an isomorphism class of the base loci of these transformations., Comment: 28 pages, 1 figure; to appear in Mathematics of Computation (AMS)

A gauge-invariant framework for computing bubble nucleation rates at finite temperature in the presence of radiative barriers was presented and advocated for model-building and phenomenological studies in an accompanying article arXiv:2112.05472. Here, we detail this computation using the Abelian Higgs Model as an illustrative example. Subsequently, we recast this approach in the dimensionally-reduced high-temperature effective field theory for nucleation. This allows for including several higher order thermal resummations and furthermore delineate clearly the approach's limits of validity. This approach provides for robust perturbative treatments of bubble nucleation during possible first-order cosmic phase transitions, with implications for electroweak baryogenesis and production of a stochastic gravitational wave background. Furthermore, it yields a sound comparison between results of perturbative and non-perturbative computations., Comment: 64 pages, 3 figures, 2 tables; v2: Journal version, added figures 1 and 2, extended sections 1 and 3.4

We present a gauge-invariant framework for bubble nucleation in theories with radiative symmetry breaking at high temperature. As a procedure, this perturbative framework establishes a practical, gauge-invariant computation of the leading order nucleation rate, based on a consistent power counting in the high-temperature expansion. In model building and particle phenomenology, this framework has applications such as the computation of the bubble nucleation temperature and the rate for electroweak baryogenesis and gravitational wave signals from cosmic phase transitions., Comment: 6 pages, 1 figure, updated funding information for v2

High-energy particles traversing a medium experience modified dispersion. In the Quark-Gluon Plasma, such dispersion affects jet propagation and transport properties and should be determined better. Above $\sim 2T_c$ we expect strongly coupled infrared behavior and perturbative ultraviolet behavior, allowing a perturbative matching to an effective theory called EQCD, which can be studied non-perturbatively. We study the relevant non-local operator in EQCD at next-to-leading order which allows for a complete EQCD-to-lattice match and prepares the groundwork for a matching between EQCD and full QCD. Our results in EQCD show remarkable agreement between perturbation theory and the lattice in the expected regime., Comment: 34 pages, 3 figures, 4 tables. Updates of (i) the NLO perturbative result in eq. (4.12), (ii) the numerical integration in eq. (5.2), (iii) numerical values in tabs. 1 and 3, and (iv) figures. Conclusions unchanged

Finding necessary conditions for the geometry of flexible polyhedra is a classical problem that has received attention also in recent times. For flexible polyhedra with triangular faces, we showed in a previous work the existence of cycles with a sign assignment for their edges, such that the signed sum of the edge lengths along the cycle is zero. In this work, we extend this result to flexible non-triangular polyhedra., Comment: 9 pages

We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and all the possible configurations of a manipulator. Before describing our construction, we show how this duality helps explaining several known phenomena regarding mobility of parallel manipulators., Comment: 14 pages

We investigate the electroweak phase transition in the real-singlet extension of the Standard Model at two-loop level, building upon existing one-loop studies. We calculate the effective potential in the high-temperature approximation and detail the required resummations at two-loop order. In typical strong-transition scenarios, we find deviations of order $20\% - 50\%$ from one-loop results in transition strength and critical temperature for both one- and two-step phase transitions. For extremely strong transitions, the discrepancy with one-loop predictions is even larger, presumably due to sizable scalar couplings in the tree-level potential. Along the way, we obtain a dimensionally-reduced effective theory applicable for non-perturbative lattice studies of the model., Comment: 26 pages, 4 figures

We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for $nR$-linkages of mobility $n-5$. Our main new tool is a geometric relation between a linkage $L$ and another linkage $L'$ resulting from adding equations to the configuration space of $L$. We then lift known classification results for $L'$ to $L$ using this relation., Comment: 20 pp. Final version. To appear on Ann. Mat. Pura Appl

Perturbation theory alone fails to describe thermodynamics of the electroweak phase transition. We review a technique combining perturbative and non-perturbative methods to overcome this challenge. Accordingly, the principal theme is a tutorial of high-temperature dimensional reduction. We present an explicit derivation with a real singlet scalar and compute the thermal effective potential at two-loop order. In particular, we detail the dimensional reduction for a real-singlet extended Standard Model. The resulting effective theory will impact future non-perturbative studies based on lattice simulations as well as purely perturbative investigations., Comment: 86 pages, 2 figures and 141 Feynman diagrams

The understanding of mobile hexapods, i.e., parallel manipulators with six legs, is one of the driving questions in theoretical kinematics. We aim at contributing to this understanding by employing techniques from algebraic geometry. The set of configurations of a mobile hexapod with one degree of freedom has the structure of a projective curve, which hence has a degree and an embedding dimension. Our main result is a classification of configuration curves of hexapods that satisfy some restrictions on their embedding dimension., Comment: 41 pages

A phylogenetic tree is a tree with a fixed set of leaves that has no vertices of degree two. In this paper, we axiomatically define four other discrete structures on the set of leaves. We prove that each of these structures is an equivalent representation of a phylogenetic tree.

We present a method for computing projective isomorphisms between rational surfaces that are given in terms of their parametrizations. The main idea is to reduce the computation of such projective isomorphisms to five base cases by modifying the parametric maps such that the components of the resulting maps have lower degree. Our method can be used to compute affine, Euclidean and M\"obius isomorphisms between surfaces.

We show that if a polyhedron in the three-dimensional affine space with triangular faces is flexible, i.e., can be continuously deformed preserving the shape of its faces, then there is a cycle of edges whose lengths sum up to zero once suitably weighted by 1 and -1. We do this via elementary combinatorial considerations, made possible by a well-known compactification of the three-dimensional affine space as a quadric in the four-dimensional projective space. The compactification is related to the Euclidean metric, and allows us to use a simple degeneration technique that reduces the problem to its one-dimensional analogue, which is trivial to solve.

We critically examine the magnitude of theoretical uncertainties in perturbative calculations of first-order phase transitions, using the Standard Model effective field theory as our guide. In the usual daisy-resummed approach, we find large uncertainties due to renormalisation scale dependence, which amount to two to three orders-of-magnitude uncertainty in the peak gravitational wave amplitude, relevant to experiments such as LISA. Alternatively, utilising dimensional reduction in a more sophisticated perturbative approach drastically reduces this scale dependence, pushing it to higher orders. Further, this approach resolves other thorny problems with daisy resummation: it is gauge invariant which is explicitly demonstrated for the Standard Model, and avoids an uncontrolled derivative expansion in the bubble nucleation rate., Comment: 103 pages, 11 figures

Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number of connected components of the complementary of the singularities of the kinematic map. Another task is to design a continuous path joining two given points lying in the same connected component of such a set. In this paper, we push forward the current capabilities of computer algebra to obtain computer-aided proofs of the analysis of the kinematic singularities of various robots used in industry. We first show how to combine mathematical reasoning with easy symbolic computations to study the kinematic singularities of an infinite family (depending on paramaters) modelled by the UR-series produced by the company ``Universal Robots''. Next, we compute roadmaps (which are curves used to answer connectivity queries) for this family of robots. We design an algorithm for ``solving'' positive dimensional polynomial system depending on parameters. The meaning of solving here means partitioning the parameter's space into semi-algebraic components over which the number of connected components of the semi-algebraic set defined by the input system is invariant. Practical experiments confirm our computer-aided proof and show that such an algorithm can already be used to analyze the kinematic singularities of the UR-series family. The number of connected components of the complementary of the kinematic singularities of generic robots in this family is $8$.

Rigid graph theory is an active area with many open problems, especially regarding embeddings in $\mathbb{R}^d$ or other manifolds, and tight upper bounds on their number for a given number of vertices. Our premise is to relate the number of embeddings to that of solutions of a well-constrained algebraic system and exploit progress in the latter domain. In particular, the system's complex solutions naturally extend the notion of real embeddings, thus allowing us to employ bounds on complex roots. We focus on multihomogeneous B{\'e}zout (m-B{\'e}zout) bounds of algebraic systems since they are fast to compute and rather tight for systems exhibiting structure as in our case. We introduce two methods to relate such bounds to combinatorial properties of minimally rigid graphs in $\mathbb{C}^d$ and $S^d$. The first relates the number of graph orientations to the m-B\'ezout bound, while the second leverages a matrix permanent formulation. Using these approaches we improve the best known asymptotic upper bounds for planar graphs in dimension~3, and all minimally rigid graphs in dimension $d\geq 5$, both in the Euclidean and spherical case. Our computations indicate that m-B\'ezout bounds are tight for embeddings of planar graphs in $S^2$ and $\mathbb{C}^3$. We exploit Bernstein's second theorem on the exactness of mixed volume, and relate it to the m-B{\'e}zout bound by analyzing the associated Newton polytopes. We reduce the number of checks required to verify exactness by an exponential factor, and conjecture further that it suffices to check a linear instead of an exponential number of cases overall.

The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of the configuration space is higher than expected. These linkages violate the Chebychev-Gr\"ubler-Kutzbach formula for the degree of freedom of mobility. Mathematicians developed a variety of methods to describe and understand this phenomenon. This paper explains some of them., Comment: 29 pages, 15 figures

We re-prove the classification of flexible octahedra, obtained by Bricard at the beginning of the XX century, by means of combinatorial objects satisfying some elementary rules. The explanations of these rules rely on the use of a well-known creation of modern algebraic geometry, the moduli space of stable rational curves with marked points, for the description of configurations of graphs on the sphere. Once one accepts the objects and the rules, the classification becomes elementary (though not trivial) and can be enjoyed without the need of a very deep background on the topic., Comment: 40 pages, 23 figures. Animations of flexible octahedra available at https://jan.legersky.cz/project/bricard_octahedra/

Edge lengths of a graph are called flexible if there exist infinitely many non-congruent realizations of the graph in the plane satisfying these edge lengths. It has been shown recently that a graph has flexible edge lengths if and only if the graph has a special type of edge coloring called NAC-coloring. We address the question how to determine all possible proper flexible edge lengths from the set of all NAC-colorings of a graph. We do so using restrictions to 4-cycle subgraphs.