Classical Era
The origin of the command baton is remote but common to all pastoral societies and the ones in Egypt and Rome are manifest through art. In western Europe most are later variations of the ones consuls received and that represented the over all command of those tied to the fasces that represented the Roman tribes that composed the Roman people. With time they came to be extended to the commanders that held the supreme authority, civilian and military over the provinces of the Republic, and later under the dictatorships and finally the Emperor.
A short, heavy, white baton was the symbol of the imperial mandate given to a Roman military legate. He held it high proclaiming "above your head and mine" to represent the Emperor.
It is possible that the Spartan cipher rod, Scytale, also had a related military status, pre-dating the Roman baton, but the first detailed reference in Plutarch dates from the Roman period.
Read more about this topic: Baton (symbol)
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