Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Special Orthogonal Group SO(3), Euler Angles, Angle-axis, Rodriguez
  Vector and Unit-Quaternion: Overview, Mapping and Challenges   The attitude of a rigid-body in the three dimensional space has a unique and
global definition on the Special Orthogonal Group SO (3). This paper gives an
overview of the rotation matrix, attitude kinematics and parameterization. The
four most frequently used methods of attitude representations are discussed
with detailed derivations, namely Euler angles, angle-axis parameterization,
Rodriguez vector, and unit-quaternion. The mapping from one representation to
others including SO (3) is given. Also, important results which could be useful
for the process of filter and/or control design are given. The main weaknesses
of attitude parameterization using Euler angles, angle-axis parameterization,
Rodriguez vector, and unit-quaternion are illustrated. Keywords: Special
Orthogonal Group 3, Euler angles, Angle-axis, Rodriguez Vector,
Unit-quaternion, SO(3), Mapping, Parameterization, Attitude, Control, Filter,
Observer, Estimator, Rotation, Rotational matrix, Transformation matrix,
Orientation, Transformation, Roll, Pitch, Yaw, Quad-rotor, Unmanned aerial
vehicle, Robot, spacecraft, satellite, UAV, Underwater vehicle, autonomous,
system, Pose, literature review, survey, overview, comparison, comparative
study, body frame, identity, origin, dynamics, kinematics, Lie group, inertial
frame, zero, filter, control, estimate, observation, measurement, 3D, three
dimensional space, advantage, disadvantage.

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The categories of this paper are: astro-ph
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The categories of this paper are: q-fin
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The categories of this paper are: physics
30
The categories of this paper are: q-alg
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The categories of this paper are: plasm-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: patt-sol
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The categories of this paper are: supr-con
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The categories of this paper are: chao-dyn
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The categories of this paper are: acc-phys
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The categories of this paper are: nucl-ex
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The categories of this paper are: nlin
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The categories of this paper are: hep-lat
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The categories of this paper are: alg-geom
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The categories of this paper are: econ