It has been known from very ancient times that the length of the diagonal of a unit square is not a rational number. There were no specific mathematicians who "discovered" real numbers. Furthermore, all mathematicians of any significance, contributed to our understanding of real numbers.
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Rene Descartes came up with the word imaginary in 1637 to describe them. It was a derogatory term. He (and many other mathematicians of that age) did not like imaginary numbers. Many people didn't believe in them, because they were not real.
They were discovered when Cardano solved the third degree equation. In the formulas that arose to solve the third degree equation, Cardano needed to take the square root of negative numbers and add them up in a certain way. The strange thing that happened was that the formulas used these complex numbers, even if the solutions to the equation where all real. This baffled the mathematicians of the time, because how could these strange numbers turn out to be "real"? Later this was considered totally correct, when the field of complex numbers was better undestood.
No because natural numbers are a subset of real numbers
Real numbers are all numbers which do not contain "i", when "i" represents the square root of -1. All numbers which do contain "i" are "imaginary numbers" and are not real numbers. This means that all numbers you'd ordinarily use are real numbers - all the counting numbers (integers) and all decimals are real numbers. So in answer to your question, all the real numbers that are not whole numbers are all the decimal numbers - including irrational decimals such as pi.
yesYes, integers are real numbers.