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In Press
Bongardt B.  In Press.  Closed-Form Solutions and Solvability of Line-Geometric Paden–Kahan Problems. Conference on Geometry: Theory and Applications.
Bongardt B, Uicker JJ.  2020.  Exponential Displacement Coordinates by Means of the Adjoint Representation. Advances in Robot Kinematics 2020. :250-258.