Related papers: Rational Motions of Minimal Quaternionic Degree wi…
In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…
The trajectories of a rational motion given by a polynomial of degree n in the dual quaternion model of rigid body displacements are generically of degree 2n. In this article we study those exceptional motions whose trajectory degree is…
We give a constructive proof for the existence of a unique rational motion of minimal degree in the dual quaternion model of Euclidean displacements with a given rational parametric curve as trajectory. The minimal motion degree equals the…
Motion polynomials (polynomials over the dual quaternions with nonzero real norm) describe rational motions. We present a necessary and sufficient condition for reduced bounded motion polynomials to admit factorizations into monic linear…
A $\mathit{\text{moving frame}}$ at a rational curve is a basis of vectors moving along the curve. When the rational curve is given parametrically by a row vector $\mathbf{a}$ of univariate polynomials, a moving frame with important…
We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent.…
We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we…
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual…
The diagonal of a multivariate power series F is the univariate power series Diag(F) generated by the diagonal terms of F. Diagonals form an important class of power series; they occur frequently in number theory, theoretical physics and…
The purpose of this note is to give an exposition of some interesting combinatorics and convex geometry concepts that appear in algebraic geometry in relation to counting the number of solutions of a system of polynomial equations in…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
M\"obius transformations of the extended complex plane are at the crossroads of many interesting topics, e.g., they form a group under composition, are the simplest form of rational function, and are a path to Lie theory. Quaternionic…
For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
The main purpose of this paper is to define dynamical degrees for rational maps over an algebraic closed field of characteristic zero and prove some basic properties (such as log-concavity) and give some applications. We also define…
This article presents the four-dimensional surfaces which instruct the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This…
Previous work on predicting or generating 3D human pose sequences regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain, as well as discontinuities when using Euler…
The diagonal of a multivariate power series F is the univariate power series Diag(F) generated by the diagonal terms of F. Diagonals form an important class of power series; they occur frequently in number theory, theoretical physics and…
The complete eigenstructure, or structural data, of a rational matrix $R(s)$ is comprised by its invariant rational functions, both finite and at infinity, which in turn determine its finite and infinite pole and zero structures,…