The Hindu-Arabic numeral system began developing as early as the 1st century with a full system being established around the 9th century, forming the basis of the numerical digits 0, 1, 2, 3, 4, 5, 6, 7, 8 and 9 that we use today.
Mathematical developments increased rapidly around the time of the Italian Renaissance in the 16th century and continued through the scientific revolution of the 17th and 18th centuries.