Related papers: Quaternions and Attitude Representation
As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…
Here we follow the basic analysis that is common for real and complex variables and find how it can be applied to a quaternionic variable. Non-commutativity of the quaternion algebra poses obstacles for the usual manipulations; but we show…
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…
The general 4D rotation matrix is specialised to the general 3D rotation matrix by equating its leftmost top element (a00) to 1. Its associate matrix of products of the left-hand and right-hand quaternion components is specialised…
This paper establishes the basis of the quaternionic differential geometry ($\mathbbm H$DG) initiated in a previous article. The usual concepts of curves and surfaces are generalized to quaternionic constraints, as well as the curvature and…
This is part one of a series of four methodological papers on (bi)quaternions and their use in theoretical and mathematical physics: 1- Alphabetical bibliography, 2- Analytical bibliography, 3- Notations and terminology, and 4- Formulas and…
Most of theoretical physics is based on the mathematics of functions of a real or a complex variable; yet we frequently are drawn to try extending our reach to include quaternions. The non-commutativity of the quaternion algebra poses…
In this paper, we use four-dimensional quaternionic algebra to describing space-time field equations in curvature form. The transformation relations of a quaternionic variable are established with the help of basis transformations of…
Quaternions, split quaternions, and hybrid numbers are very well-known number systems. These number systems are used to make geometry in Euclidean and Lorentz spaces. These number systems can be obtained with the help of a quadratic form.…
In this paper, real matrix representations of split quaternions are examined in terms of the casual character of quaternion. Then, we give De-Moivre' s formula for real matrices of timelike and spacelike split quaternions, separately.…
The algebra of fourvectors is described. The fourvectors are more appropriate than the Hamilton quaternions for its use in Physics and the sciences in general. The fourvectors embrace the 3D vectors in a natural form. It is shown the…
A novel single-frame quaternion estimator processing two vector observations is introduced. The singular cases are examined, and appropriate rotational solutions are provided. Additionally, an alternative method involving sequential…
Quaternion symmetry is ubiquitous in the physical sciences. As such, much work has been afforded over the years to the development of efficient schemes to exploit this symmetry using real and complex linear algebra. Recent years have also…
In this article, we introduce and study the concept of $\textit{spherical-vectors}$, which can be perceived as a natural extension of the arguments of complex numbers in the context of quaternions. We initially establish foundational…
Second order circularity, also called properness, for complex random variables is a well known and studied concept. In the case of quaternion random variables, some extensions have been proposed, leading to applications in quaternion signal…
This study investigates the theoretical and computational aspects of quaternion generalized inverses, focusing on outer inverses and {1,2}-inverses with prescribed range and/or null space constraints. In view of the non-commutative nature…
Starting from known results, due to Y. Tian in [Ti; 00], referring to the real matrix representations of the real quaternions, in this paper we will investigate the left and right real matrix representations for the complex quaternions and…
M\"obius transformations of the extended complex plane are at the crossroads of many interesting topics, e.g., they form a group under composition, are the simplest form of rational function, and are a path to Lie theory. Quaternionic…
In this study, we introduce the concept of commutative quaternions and commutative quaternion matrices. Firstly, we give some properties of commutative quaternions and their Hamilton matrices. After that we investigate commutative…
We give criteria for real, complex and quaternionic representations to define s-representations, focusing on exceptional Lie algebras defined by spin representations. As applications, we obtain the classification of complex representations…