'Generating 3D Inversive Sets by Class through Abstract Hypergraphs': Theory and code for making general 3D inversive (Kleinian) limit sets. 2025
'Five Archetypal Self-similar Solids using Inversive Geometry': Examples of scale-symmetric geometry. 2024.
'Exploring Scale Symmetry': A visual exploration of scale-symmetric geometry. 2021.
'Raycloudtools: A Concise Interface for the Analysis and Manipulation of Ray Clouds': Summary of ray cloud processing library
'Canopy Density Estimation for Horticultural Crops using Spinning Lidar SLAM' - Journal of Field Robotics (JFR), 2021
'OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation' - International Conference on Robotics and Automation (ICRA), 2019
'Colourising Point Clouds using Independent Cameras' - Robotics and Automation Letters, 2018
'Complementary Perception for Handheld SLAM' - Robotics and Automation Letters and ICRA, 2018
'The Multilegged Autonomous Explorer (MAX)' - ICRA, 2017
'Three Variable-dimension Surfaces' - Researchgate, 2016
'Improving Image Clarity using Local Feature Dimension' (free postprint pdf) - IET Image Processing, 2014
Short talk and poster on bipedal motion. 2007
2004
'An Investigation into the use of Genetic Algorithms and Neural Networks in Articulating 2d Stick Figures'. Implemented in Java. 1999
Critically damped ease-in ease-out smoothing
Non-uniform splines