Automatic multivector differentiation and optimization. (English) Zbl 1367.65034

Summary: In this work, we present a novel approach to nonlinear optimization of multivectors in the Euclidean and conformal model of geometric algebra by introducing automatic differentiation. This is used to compute gradients and Jacobian matrices of multivector valued functions for use in nonlinear optimization where the emphasis is on the estimation of rigid body motions.


65D25 Numerical differentiation
65K05 Numerical mathematical programming methods
15A66 Clifford algebras, spinors
90C30 Nonlinear programming
70E15 Free motion of a rigid body
Full Text: DOI


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