50 citations · 75 across the 6 of their papers we have counts for
6 papers
The geometric Laplace transform: Definition, existence and properties of the Geometric Algebra Laplace transform
Manel Velasco, Arnau Dòria-Cerezo, Isiah Zaplana
Recent publications have started to explore the application of Geometric Algebra (GA) to the modeling, analysis and control of dynamical systems and, in particular, electrical circ…
LLM-guided Task and Motion Planning using Knowledge-based Reasoning
Muhayy Ud Din, Jan Rosell, Waseem Akram +3
Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level mo…
Symbolic and User-friendly Geometric Algebra Routines (SUGAR) for Computations in Matlab
Manel Velasco, Isiah Zaplana, Arnau Dória-Cerezo +1
Geometric algebra (GA) is a mathematical tool for geometric computing, providing a framework that allows a unified and compact approach to geometric relations which in other mathem…
Introducing Modelling, Analysis and Control of Three-Phase Electrical Systems Using Geometric Algebra
Manel Velasco, Isiah Zaplana, Arnau Dòria-Cerezo +2
State-of-the-art techniques for modeling, analysis and control of three-phase electrical systems belong to the real-valued multi-input/multi-output (MIMO) domain, or to the complex…
Singularities of serial robots: Identification and distance computation using geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fun…
Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails hi…