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  • 2026

  • Rettig, Oliver; Hrdina, Jaroslav; Hildenbrand, Dietmar (2026): Geometric algebra: an overview about different implementation representations and memory requirements. In: Philosophical transactions. Series A, Mathematical, physical, and engineering sciences 384 (2326). DOI: 10.1098/rsta.2025.0104

    DOI: https://doi.org/10.1098/rsta.2025.0104 

    Abstract: Several implementations of geometric algebra are available, and many have been approved in the past and can be found in various software codes. For low-dimensional algebras, representations as a sum of basis blades are typically the most suitable. However, isomorphic or irreducible matrix representations are also options. Techniques such as compression on a per-coordinate, per-grade or per-group basis, as well as the use of sparse matrices, can help reduce memory consumption. In the case of high-dimensional algebras, factorized representations can significantly decrease the memory needed for blades and versors, reducing it to O(n2), as opposed to the O(2n) required to represent a complete basis of blades. This is particularly relevant in the context of quantum computing, where high dimensionality and memory usage are increasingly important considerations. This paper reviews various implementation strategies, classifies the corresponding software tools and libraries and highlights recent advancements aimed at reducing memory consumption within the tool Gaalop. This article is part of the theme issue 'Modern applications of geometric algebra'. Several implementations of geometric algebra are available, and many have been approved in the past and can be found in various software codes. For low-dimensional algebras, representations as a sum of basis blades are typically the most suitable. However, isomorphic or irreducible matrix representations are also options. Techniques such as compression on a per-coordinate, per-grade or per-group basis, as well as the use of sparse matrices, can help reduce memory consumption. In the case of high-dimensional algebras, factorized representations can significantly decrease the memory needed for blades and versors, reducing it to O(n2), as opposed to the O(2n) required to represent a complete basis of blades. This is particularly relevant in the context of quantum computing, where high dimensionality and memory usage are increasingly important considerations. This paper reviews various implementation strategies, classifies the corresponding software tools and libraries and highlights recent advancements aimed at reducing memory consumption within the tool Gaalop. This article is part of the theme issue 'Modern applications of geometric algebra'. // Several implementations of geometric algebra are available, and many have been approved in the past and can be found in various software codes. For low-dimensional algebras, representations as a sum of basis blades are typically the most suitable. However, isomorphic or irreducible matrix representations are also options. Techniques such as compression on a per-coordinate, per-grade or per-group basis, as well as the use of sparse matrices, can help reduce memory consumption. In the case of high-dimensional algebras, factorized representations can significantly decrease the memory needed for blades and versors, reducing it to O(n2), as opposed to the O(2n) required to represent a complete basis of blades. This is particularly relevant in the context of quantum computing, where high dimensionality and memory usage are increasingly important considerations. This paper reviews various implementation strategies, classifies the corresponding software tools and libraries and highlights recent advancements aimed at reducing memory consumption within the tool Gaalop. This article is part of the theme issue 'Modern applications of geometric algebra'.

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  • Stöckl, Florian; Müller, Silvan; Rettig, Oliver; Strand, Marcus; Gardill, Markus} (2026) : Analysis of Calibration Poses and Algorithms for Kinematic Calibration of Collaborative Robots Using Laser Tracker Measurements In: IEEE Robotics & Automation: CASE2026_Proceedings: 2026 IEEE 22nd International Conference on Automation Science and Engineering (CASE 2026): Shenyang, Liaoning, China: August 17 – 21, 2026

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  • 2025

  • Chen, Lucía; Cañas, José M.; Roldán, David; Martín, Diego; García-Perez, Lía; Stöckl, Florian; Müller, Silvan; Strand, Marcus (2025) : Teaching Service Robotics with ROS and Unibotics Web Framework in Higher Education In: Balogh, Richard; Obdržálek, David; Fachantidis, Nikolaos (Hg.): Robotics in Education: Proceedings of the RiE 2025 Conference: 1: Springer Nature Switzerland (Lecture Notes in Networks and Systems), S. 508-520

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  • 2024

  • Alt, Benjamin; Stöckl, Florian; Müller, Silvan; Braun, Christopher; Raible, Julian; Alhasan, Saad; Rettig, Oliver; Ringle, Lukas; Katic, Darko; Jäkel, Rainer; Beetz, Michael; Strand, Marcus; Huber, Marco F. (2024) : RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots In: IEEE: 2024 IEEE International Conference on Robotics and Automation (ICRA): International Conference on Robotics and Automation (ICRA): Yokohama, Japan: 13-17 May 2024, S. 2140-2146
  • Rettig, Oliver; Hinderer, Fabian; Strand, Marcus (2024) : Towards an Integrated Development tool for GA and a symbolic CGA implementation based on CasADi for application in robotics In: Bayro-Corrochano, Eduardo: VISION & ROBOTICS: Applied Geometric Algebras in Computer Science and Engineering 2024: Amsterdam: August 27-29, 2024. University of Amsterdam, University of Cambridge

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  • Stöckl, Florian; Müller, Silvan; Strand, Marcus (2024) : Tailored Robotics Lab Sessions - Accommodating Undergraduate Students with Diverse Skill: Session #1 Pedagocical aspects I, no.: 12: 15th International Conference on Robotics in Education - RiE 2024: Koblenz, Germany: April 10-12, 2024. University of Koblenz

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  • Stöckl, Florian; Müller, Silvan; Marcus; Strand (2024) : Maßgeschneiderte Robotik-Laborversuche. 209 Alle Informationen finden Sie unter: www.karlsruhe.dhbw.de/rahmlab Kontakt Duale Hochschule Baden-Württemberg Projektbeschreibung (inkl. Zielsetzung und methodische Vorgehen) In: Klärle, Martina; Küstermann, Roland (Hg.): Bridging the Gap: Innovationstransfer für Studium und Praxis: DHBW Forschungstag 2024: Karlsruhe: 3.-4. Juli 2024. Duale Hochschule Baden-Württemberg, S. 209-211

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  • 2023

  • Raible, Julian; Rettig, Oliver; Alt, Benjamin; Yaman, Alper; Gauger, Isabelle, Biasi, Lorenzo; Müller, Silvan; Katic, Darko; Strand, Marcus; Huber, Marco (2023) : Artificial Neural Network Guided Compensation of Nonlinear Payload and Wear Effects for Industrial Robots In: Xu, Xun; Vogel-Heuser, Birgit; Lu, Yuqian (Hg.): Editorial Proceedings of 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Automation for a Resilient Society: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Auckland, New Zealand: 26-30 August 2023. IEEE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/10260559
  • Rettig, Oliver; Hinderer, Fabian; Strand, Marcus (2023) : Application of Conformal Geometric Algebra in Robotics: DH-Parameters Extraction from Joint Axes Poses In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence

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  • Schmidt, Marco; Reimer, Norman; Rettig, Oliver; Jergentz, Stefan; Kugel, Andreas (2023) : CO 2-Runter, die CO2-Community App für Karlsruhe In: Weber, Joachim: Tagungsband zum DHBW Forschungstag 2023. Unter Mitarbeit von Cansu Atlay, Alison Ehringer und Annette Herzog: Nachhaltigkeit gestalten: Gesellschaft, Gesundheit, Technologien und Märkte: Stuttgart: 6. Juli 2023. Dualen Hochschule Baden-Württemberg, S. 196-197

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  • Stöckl, Florian; Müller, Silvan; Rettig, Oliver; Saad Alhasan; Strand, Marcus (2023) : RoboGrind – Hybride AI für die Oberflächenbearbeitung mit Robotern In: Weber, Joachim: Tagungsband zum DHBW Forschungstag 2023. Unter Mitarbeit von Cansu Atlay, Alison Ehringer und Annette Herzog: Nachhaltigkeit gestalten: Gesellschaft, Gesundheit, Technologien und Märkte: Stuttgart: 6. Juli 2023. Dualen Hochschule Baden-Württemberg, S. 186-187

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  • Stöckl, Florian; Strand, Marcus; Müller, Silvan; Huber, Marco; Raible, Julian; Braun, Christopher; Katic, Darko; Alt, Benjamin; Merkt, Holger (2023) : Autonomous Surface Grinding of wind turbine blades In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence

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  • Türk, Nehemia; Strand, Marcus; Rettig, Oliver (2023) : Autonomous Model-Based Inspection Planning for 3D Visual Coverage In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence

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  • 2022

  • Rettig, Oliver; Strand, Marcus; Müller, Silvan (2022) : Kinematic calibration of a collaborative robot by a marker based optical measurement procedure In: IAS Society: Proceedings of the 17th International Conference on Intelligent Autonomous Systems IAS-17: 17th International Conference on Intelligent Autonomous Systems IAS-17: Zagreb, Croatia: June 13-16, 2022. University of Zagreb Faculty of Electrical Engineering and Computing

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  • Rettig, Oliver; Müller, Silvan; Strand, Marcus (2022) : 46 - Dynamische und ergonomische Adaption von Roboterbewegungen an den Menschen durch Maschinelles Lernen In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule

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  • Strand, Marcus (2022) : 48 - Learning and Transfer of movement gaits using reinforcement learning In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule

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  • Strand, Marcus (2022) : 50 - I believe I can fly In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule, S. 65-66

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  • Strand, Marcus (2022) : 51 - KIRK: KI-basierte Roboterkalibrierung In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule

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  • Strand, Marcus; Rettig, Oliver; Müller, Silvan; Stöckl, Florian; Alhasan, Saad (2022) : 49 - RoboGrind – Hybride AI für die flexible und hochautomatisierte Oberflächenbearbeitung mit Robotern In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule, S. 63-64

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  • 2021

  • Ang, Marcelo H.; Miura, Jun; Strand, Marcus (2021): Special Issue on Intelligent Autonomous Systems. In: Advanced Robotics 35 (3-4). DOI: 10.1080/01691864.2021.1876609
  • Lindinger, Maximilian; Strand, Marcus; Schwarzkopf, Sebastian; Honal, Matthias; Engesser, Raphael (2021) : Fusion Of Radar- And Lidar-Data For Object-Tracking-Applications At Feature Level In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore

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  • Rettig, Oliver; Müller, Silvan; Strand, Marcus (2021) : A marker based optical measurement procedure to analyse robot arm movements and its application to improve accuracy of industrial robots In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore

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  • Rettig, Oliver; Strand, Marcus (2021) : Determination of posture comfort zones for robot-human handover tasks In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore

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  • Waidner, David; Strand, Marcus (2021) : Learning and Transfer of movement gaits using reinforcement learning In: CLAWAR Association: CLAWAR 2021 conference proceedings: 24rd International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines (CLAWAR 2021): Takarazuka, Japan: 30 Aug - 1 Sep 2021. CLAWAR Association, Kwansei Gakuin University (KGU), Takarazuka, Japan: Springer (AISC Springer Series)

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  • 2019

  • Baumann, Robin; Evers-Senne, Jan-Friso; Strand, Marcus (2019) : Classification of 3D structures based on an object detection for facade elements in multiple views during the reconstruction process In: IEEE: Proceedings of the IEEE Conference on Multisensor Fusion and Integration (MFI) 2019: 2019 IEEE International Conference on Industrial Cyber Physical Systems (ICPS 2019)): Taipeh, Taiwan: 6 – 9 May 2019. Institute of Electrical and Electronics Engineers, Inc.

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  • 2018

  • El-Farouk E. Labib, Omar; El-Safty, Sarah W.; Müller, Silvan; Haalboom, Thomas; Strand, Marcus (2018) : Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism. Proceedings of the 15th International Conference IAS-15 In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Intelligent Autonomous Systems 15: Proceedings of the 15th International Conference IAS-15: Springer International Publishing (Advances in Intelligent Systems and Computing), S. 278-288
  • Lenk, Max; Hilsendegen, Paula; Rettig, Oliver; Strand, Marcus (2018) : Simulation and Transfer of Reinforcement Learning Algorithms for Autonomous Obstacle Avoidance In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)

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  • Rettig, Oliver; Müller, Silvan; Strand, Marcus; Katic, Darko (2018) : Unsupervised Hump Detection for Mobile Robots Based on Kinematic Measurements and Deep-Learning Based Autoencoder In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)

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  • Rettig, Oliver; Müller, Silvan; Strand, Marcus (2018) : Which deep artificial neural network architecture to use for anomaly detection in Mobile Robots kinematic data? In: ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0: Proceedings of the Conference Machine Learning for Cyber Physical Systems and Industry 4.0 ML4CPS Fraunhofer IOSB: 5th Conference on Machine Learning for Cyber Physical Systems: Karlsruhe: 2018. ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0

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  • Rettig, Oliver; Friesenbichler, Bernd (2018): O 073 - Adjunct SHR - A new version of the "classical" Scapulohumeral Rhythm ratio. In: Gait & posture 65 Suppl 1, S. 150-151. DOI: 10.1016/j.gaitpost.2018.06.098
  • Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.) (2018): Proceedings of the 15th International Conference IAS-15. 15th International Conference on Intelligent Autonomous Systems IAS-15. Baden-Baden, Germany. Cham: Springer (Advances in Intelligent Systems and Computing). Online verfügbar unter www.ias-15.org
  • 2017

  • Spohn, Leon; Bergen, Marcus; Benz, Nicolai; Vonscheidt, Denis; Haubner, Hans-Jörg; Strand, Marcus (2017) : I Believe I Can Fly—Gesture-Driven Quadrotor Control Based on a Fuzzy Control System In: Chen, Weidong; Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng (Hg.): Intelligent Autonomous Systems 14: Proceedings of the 14th International Conference IAS-14, 531: Cham: Springer International Publishing (Advances in Intelligent Systems and Computing), S. 177-184