The use of Clifford or geometric algebra for dealing with three dimensional geometry is discussed. One issue is the representation of the rigid body motions of rotations and translations as elements within the algebra. The approach used is to work with projective geometry and choose the square of an additional basis element to be large (infinite). This allows Euclidean points to be represented as vectors in the algebra and transforms on these to be handled using bivectors. This paper looks at the use of Clifford algebra for handling the types of transforms required in robotic applications. A number of example applications are given.

In this paper we study a transform introduced by De Pril (1989) for recursive evaluation of convolutions of counting distributions with a positive probability in zero. We discuss some cases where the evaluation of this transform is simplified and relate the transform to infinitely divisible distributions. Finally we discuss an algorithm presented by Dhaene & Vandebroek (1994) for recursive evaluation of convolutions.