Normalization for planar string diagrams and a quadratic equivalence algorithm

In the graphical calculus of planar string diagrams, equality is generated by exchange moves, which swap the heights of adjacent vertices. We show that left- and right-handed exchanges each give strongly normalizing rewrite strategies for connected string diagrams. We use this result to give a linear-time solution to the equivalence problem in the connected case, and a quadratic solution in the general case. We also give a stronger proof of the Joyal-Street coherence theorem, settling Selinger's conjecture on recumbent isotopy.