Graver, Jack E. (2001), Counting on Frameworks: Mathematics to Aid the Design of Rigid Structures, The Dolciani Mathematical Expositions, vol. 25, Washington, DC: Mathematical Association of America, ISBN0-88385-331-0, MR1843781. See in particular sections 1.2 ("The grid bracing problem", pp. 4–12), 1.5 ("More about the grid problem", pp. 19–22), 2.6 ("The solution to the grid problem", pp. 50–55), and 4.4 ("Tensegrity: tension bracings", particularly pp. 158–161).
