Realizing Planar Linkages in Polygonal Domains
This addresses theoretical computer science problems in computational geometry, providing incremental complexity results for linkage realization in constrained environments.
The paper tackles the computational complexity of realizing planar linkages inside polygonal domains, showing XP-membership and W[1]-hardness for general graphs, NP-hardness for paths, and a linear-time algorithm for three-edge paths in convex domains.
A linkage $\mathcal{L}$ consists of a graph $G=(V,E)$ and an edge-length function $\ell$. Deciding whether $\mathcal{L}$ can be realized as a planar straight-line embedding in $\mathbb{R}^2$ with edge length $\ell(e)$ for all $e \in E$ is $\exists\mathbb{R}$-complete [Abel et al., JoCG'25], even if $\ell \equiv 1$, but a considerable part of $\mathcal{L}$ is rigid. In this paper, we study the computational complexity of the realization question for structurally simpler, less rigid linkages inside an open polygonal domain $P$, where the placement of some vertices may be specified in the input. We show XP-membership and W[1]-hardness with respect to the size of $G$, even if $\ell \equiv 1$ and no vertex positions are prescribed. Furthermore, we consider the case where $G$ is a path with prescribed start and end position and $\ell \equiv 1$. Despite the absence of any rigid components, we obtain NP-hardness in general, and provide a linear-time algorithm for arbitrary $\ell$ if $G$ has only three edges and $P$ is convex.