We review the covariant canonical formalism initiated by DAdda, Nelson and Regge in 1985, and extend it to include a definition of form-Poisson brackets (FPB) for geometric theories coupled to $p$-forms, gauging free differential algebras. The form-Legendre transformation and the form-Hamilton equations are derived from a $d$-form Lagrangian with $p$-form dynamical fields $phi$. Momenta are defined as derivatives of the Lagrangian with respect to the velocities $dphi$ and no preferred time direction is used. Action invariance under infinitesimal form-canonical transformations can be studied in this framework, and a generalized Noether theorem is derived, both for global and local symmetries. We apply the formalism to vielbein gravity in $d=3$ and $d=4$. In the $d=3$ theory we can define form-Dirac brackets, and use an algorithmic procedure to construct the canonical generators for local Lorentz rotations and diffeomorphisms. In $d=4$ the canonical analysis is carried out using FPB, since the definition of form-Dirac brackets is problematic. Lorentz generators are constructed, while diffeomorphisms are generated by the Lie derivative. A doubly covariant hamiltonian formalism is presented, allowing to maintain manifest Lorentz covariance at every stage of the Legendre transformation. The idea is to take curvatures as velocities in the definition of momenta.
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