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MR1834454 (2002b:53081) 53C35 (22E10 22E46 22E60)
Helgason, Sigurdur Differential geometry, Lie groups, and symmetric spaces. Corrected reprint of the 1978 original. Graduate Studies in Mathematics, 34. American Mathematical Society, Providence, RI, 2001. xxvi+641 pp. ISBN: 0-8218-2848-7
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