Simple derivation of the special theory of relativity without the speed of light axiom

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We show a very simple yet rigorous derivation of the invariance of the space-time interval (and hence the whole special relativity) just from the isotropy, homogeneity and a principle of relativity, without the need of the speed of light axiom. This article is intended as a textbook explanation of the special relativity.
14 pages, submitted to Eur. J. Phys

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