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},
}