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MR1453120 (98m:53033) 53Cxx (53-02)
Sharpe, R. W. Differential geometry. Cartan's generalization of Klein's Erlangen program. With a foreword by S. S. Chern. Graduate Texts in Mathematics, 166. Springer-Verlag, New York, 1997. xx+421 pp. ISBN: 0-387-94732-9
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