Hannes Sommer, Cédric Pradalier, Paul Furgale. Automatic Differentiation on Differentiable Manifolds as a Tool for Robotics. In Masayuki Inaba, Peter Corke, editors, Robotics Research - The 16th International Symposium ISRR, 16-19 December 2013, Singapore. Volume 114 of Springer Tracts in Advanced Robotics, pages 505-520, Springer, 2013. [doi]
Abstract is missing.