Lecture 3: Rigidity theory, generic rigidity, minimal generic rigidity, Henneberg characterization, Laman characterization, polynomial-time algorithm
Page 1: Flexibility, rigidity; depedence on configuration and not just linkage; complexity of this distinction (open)
You can download the paper by Koiran, where the NPR-hardness is via a small reduction from other results.
These are rough, personal lecture notes handwritten by Erik Demaine used during lecture. Their primary purpose is for reading/review by students of the class.