Qiaode Jeffrey Ge, J. Michael McCarthy. Functional constraints as algebraic manifolds in a Clifford algebra. IEEE Transactions on Robotics, 7(5):670-677, 1991. [doi]
@article{GeM91, title = {Functional constraints as algebraic manifolds in a Clifford algebra}, author = {Qiaode Jeffrey Ge and J. Michael McCarthy}, year = {1991}, doi = {10.1109/70.97879}, url = {http://dx.doi.org/10.1109/70.97879}, researchr = {https://researchr.org/publication/GeM91}, cites = {0}, citedby = {0}, journal = {IEEE Transactions on Robotics}, volume = {7}, number = {5}, pages = {670-677}, }