Research

Currently, I am investigating the following areas:

Computational geometry and robotic motion planning

Research connected with computational geometry, robotic motion planning and inverse kinematics for robots.

1. libcs - configuration space library
A library which provides a group of algorithms to compute the geometry of configuration space of a rotationg body.


2. pathfinder - configuration space visualization software
An application for visualization of Spin(3) configuration space contents.


3. Mathematical foundations and practical implementation of algorithms related to motion planning
4. Minkowski sums and Clifford algebras with applications in robotics
5. Inverse kinematics

Mathematics

Pure mathematical research mainly connected with special functions and special values.

1. Special functions & special values
2. Computer-assisted theorem proving