Springerbriefs in Physics Ser.: Geometry of Minkowski Space-Time by Paolo Zampetti, Vincenzo Catoni, Roberto Cannata, Francesco Catoni and Dino Boccaletti (2011, Trade Paperback)
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ISBN-13: 9783642179761, 978-3642179761. The book treats in a rigorous way, but using a non-sophisticated mathematics, the Kinematics of Special Relativity.