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Chapter title 
Basics of Manifolds and Classical Lie Groups: The Exponential Map, Lie Groups, and Lie Algebras


Chapter number  18 
Book title 
Geometric Methods and Applications

Published by 
Springer, New York, NY, January 2011

DOI  10.1007/9781441999610_18 
Book ISBNs 
9781441999603, 9781441999610

Authors 
Jean Gallier 