I am a cross-stack robotics engineer and researcher, currently building self-driving cars for Wayve. Previously I have worked on robotic motion planning, computer vision for manufacturing, optimal supercomputer software parallelisation, embedded software engineering and electrical circuit design for medical devices and racecars.
My research interests are broad but most of my published work is from my PhD where I focused on the representations of 3D space and formulations and solutions of computer vision, kinematics and dynamics problems with hyper-complex algebras. Information about my PhD thesis can be found here.
Geometric Algebra (GA) has found success in various areas of the physical sciences and engineering over the last decade but remains relatively underutilised in industry and several key topics in the field remain unexplored. This thesis focuses on the practical applications of Geometric Algebra in various interconnected areas of mathematical engineering. In Part I we explore the properties of the objects resulting from the addition of blades in Conformal Geometric Algebra (CGA) and how we might use these objects in computer graphics and robotics algorithms. In Part II we explore how Screw Theory embeds into CGA, how to use this embedding for simulation of the dynamics of rigid bodies, and how practitioners can leverage the geometric primitives built into CGA to represent and solve constraints in multi-body robotic systems.
The PDF of my thesis can be found here.
The process of converting a full size latex document like a thesis to HTML is still pretty error prone but the results can be really good when it works. I've had a go converting my thesis to HTML with latex2html, check out the results here.
Joan Lasenby talking about Geometric Algebra on the YCombinator podcast
Clifford: Geometric Algebra for Python - Numerical geometric algebra module for python
GAlgebra - Symbolic Geometric Algebra/Calculus package for SymPy
Geometric Algebra Library (GAL) - C++17 expression compiler and engine for computing with geometric algebra