Factorization of Motion Polynomials

26 Feb 2015  ·  Li Zijia, Schicho Josef, Schröcker Hans-Peter ·

In this paper, we consider the existence of a factorization of a monic, bounded motion polynomial. We prove existence of factorizations, possibly after multiplication with a real polynomial and provide algorithms for computing polynomial factor and factorizations... The first algorithm is conceptually simpler but may require a high degree of the polynomial factor. The second algorithm gives an optimal degree. read more

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Symbolic Computation Robotics

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