Minkowski products of unit quaternion sets

DOI10.1007/S10444-019-09687-9MaRDI QIDQ2000537zbMATH OpenOpenAlexWikidataFDO

Authors Rida T. Farouki, Graziano Gentili, Hwan Pyo Moon, Caterina Stoppato

Publication date 28 June 2019

Published in Advances in Computational Mathematics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1901.07349

zbMATH Keywords

3-sphereLie algebrastereographic projectionspatial rotationsboundary evaluationunit quaternionsMinkowski products

Mathematics Subject Classification ID

Matrices over special rings (quaternions, finite fields, etc.) (15B33) Functions of hypercomplex variables and generalized variables (30G35) Hyper-Kähler and quaternionic Kähler geometry, ``special geometry (53C26) Interval and finite arithmetic (65G30) Projective differential geometry (53A20)

Abstract: The Minkowski product of unit quaternion sets is introduced and analyzed, motivated by the desire to characterize the overall variation of compounded spatial rotations that result from individual rotations subject to known uncertainties in their rotation axes and angles. For a special type of unit quaternion set, the spherical caps of the 3-sphere $S^3$ in $mathbb{R}^4$, closure under the Minkowski product is achieved. Products of sets characterized by fixing either the rotation axis or rotation angle, and allowing the other to vary over a given domain, are also analyzed. Two methods for visualizing unit quaternion sets and their Minkowski products in $mathbb{R}^3$ are also discussed, based on stereographic projection and the Lie algebra formulation. Finally, some general principles for identifying Minkowski product boundary points are discussed in the case of full-dimension set operands.

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Cited in

(2)

• Multivariate Lagrange interpolation and polynomials of one quaternionic variable
• The weakly exchangeable property of quaternionic product and an application

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