Ruth Haas David Orden Günter Rote Francisco Santos Brigitte Servatius Herman Servatius Diane L. Souvaine Ileana Streinu Walter Whiteley Planar minimally rigid graphs and pseudo-triangulations. 154-163 2003 conf/compgeom/2003 Symposium on Computational Geometry http://doi.acm.org/10.1145/777792.777817 db/conf/compgeom/compgeom2003.html#HaasORSSSSSW03