The Cholesky and Cholesky-QR Decompositions of Dual Quaternion Matrices

DOI10.1080/01630563.2026.2662914MaRDI QIDQ7298921zbMATH OpenFDO

Authors Jianhua Sun, Ying Li, Musheng Wei, Xiaochen Liu, Mingcui Zhang

Publication date 17 July 2026

Published in Numerical Functional Analysis and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/01630563.2026.2662914

Mathematics Subject Classification ID

Eigenvalues, singular values, and eigenvectors (15A18) Separable algebras (e.g., quaternion algebras, Azumaya algebras, etc.) (16H05) Numerical computation of eigenvalues and eigenvectors of matrices (65F15) Numerical linear algebra (65F99)

Review text

This interesting paper studies Cholesky and Cholesky-QR decompositions of dual quaternion matrices. The dual quaternion (first proposed by Clifford in 1873) is an 8-dimensional real algebra, which is isomorphic to the tensor product of a quaternion and a dual number. It has been widely used in many engineering fields for example rigid body motion, robotics, neuroscience research and many others. See for example, [\textit{E. Pennestri} and \textit{P. P. Valentini}, Arch. Mech. Eng. 57, No. 2, 187--205 (2010; \url{doi:10.2478/V10180-010-0010-2}); \textit{X. K. Wang} et al., IEEE Trans. Robot. 28, No. 5, 1162--1170 (2012; \url{doi:10.1109/TRO.2012.2196310}); \textit{J. T. Cheng} et al., Robot. Autonomous Syst. 77, 15--24 (2016; \url{doi:10.1016/j.robot.2015.12.001})].\N\NThe authors design several real calculation-preserving algorithms to realize Cholesky decomposition of dual quaternion matrices and support their work with numerical evidence. For example, the authors prove that a dual quaternion Hermitian matrix with positive definite standard part can be used to perform Cholesky decomposition and a corresponding direct algorithm is given. Moreover, if the standard part of a dual quaternion matrix is column full rank, the authors show that the Cholesky- QR decomposition can also be realized. \medskip\N\NThe paper is well written with a good set of references.

Cites work

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