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Factorization of Motion Polynomials (1502.07600v1)
Published 26 Feb 2015 in cs.SC and cs.RO
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.