Ray-Tracing Objects and Novel Surface Representations in CGA. - Sushant Achawal; Joan Lasenby; Hugo Hadfield; Anthony N. Lasenby (CGI, 2019)

Gajit: Symbolic Optimisation and JIT Compilation of Geometric Algebra in Python with GAALOP and Numba. - Hugo Hadfield; Dietmar Hildenbrand; Alex Arsenovic (CGI, 2019)

Constrained Dynamics in Conformal and Projective Geometric Algebra. - Hugo Hadfield; Joan Lasenby (CGI, 2020)

The Forward and Inverse Kinematics of a Delta Robot. - Hugo Hadfield; Lai Wei; Joan Lasenby (CGI, 2020)

Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra. - Isiah Zaplana; Hugo Hadfield; Joan Lasenby (CoRR, 2021)

Singularities of serial robots: Identification and distance computation using geometric algebra. - Isiah Zaplana; Hugo Hadfield; Joan Lasenby (CoRR, 2021)