Factorization of Motion Polynomials
Symbolic Computation
2015-02-27 v1 Robotics
Abstract
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.
Cite
@article{arxiv.1502.07600,
title = {Factorization of Motion Polynomials},
author = {Zijia Li and Josef Schicho and Hans-Peter Schröcker},
journal= {arXiv preprint arXiv:1502.07600},
year = {2015}
}