Differential Geometry and Lie Groups

Jean Gallier is Professor of Computer and Information Science at the University of Pennsylvania, Philadelphia. His research interests include geometry and its applications, geometric modeling, and differential geometry. He is also a member of the University of Pennsylvania’s Department of Mathematics, and its Center for Human Modelling and Simulation.Jocelyn Quaintance is postdoctoral researcher at the University of Pennsylvania who has contributed to the fields of combinatorial identities and power product expansions. Her recent mathematical books investigate the interplay between mathematics and computer science. Covering areas as diverse as differential geometry, linear algebra, optimization theory, and Fourier analysis, her writing illuminates the mathematics behind topics relevant to engineering, computer vision, and robotics.

“The book … is intended ‘for a wide audience ranging from upper undergraduate to advanced graduate students in mathematics, physics, and more broadly engineering students, especially in computer science.’ …  The text’s coverage is extensive, its exposition clear throughout, and the color illustrations helpful. The authors are also familiar with many texts at a comparable level and have drawn on them in several places to include some of the most insightful proofs already in the literature.” (Jer-Chin Chuang, MAA Reviews, October 4, 2021)“The book is intended for incremental study and covers both basic concepts and more advanced ones. The former are thoroughly supported with theory and examples, and the latter are backed up with extensive reading lists and references. … Thanks to its design and approach style this is a timely and much needed addition that enables interdisciplinary bridges and the discovery of new applications for differential geometry.” (Corina Mohorian, zbMATH 1453.53001, 2021)

• 1. The Matrix Exponential; Some Matrix Lie Groups.- 2. Adjoint Representations and the Derivative of exp.- 3. Introduction to Manifolds and Lie Groups.- 4. Groups and Group Actions.- 5. The Lorentz Groups ⊛.- 6. The Structure of O(p,q) and SO(p, q).- 7. Manifolds, Tangent Spaces, Cotangent Spaces.- 8. Construction of Manifolds From Gluing Data ⊛.- 9. Vector Fields, Integral Curves, Flows.- 10. Partitions of Unity, Covering Maps ⊛.- 11. Basic Analysis: Review of Series and Derivatives.- 12. A Review of Point Set Topology.-13. Riemannian Metrics, Riemannian Manifolds.- 14. Connections on Manifolds.- 15. Geodesics on Riemannian Manifolds.- 16. Curvature in Riemannian Manifolds.- 17. Isometries, Submersions, Killing Vector Fields.- 18. Lie Groups, Lie Algebra, Exponential Map.- 19. The Derivative of exp and Dynkin's Formula ⊛.- 20. Metrics, Connections, and Curvature of Lie Groups.- 21. The Log-Euclidean Framework.- 22. Manifolds Arising from Group Actions.