An Introduction to Lie Groups and the Geometry of Homogeneous Spaces by Andreas Arvanitoyeorgos (Paperback, 2003)

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ISBN-13: 9780821827789, 978-0821827789. In this book, Arvanitoyeorgos outlines enough of the prerequisites to get the reader started. In this way, he avoids the extra detail needed for a thorough discussion of representation theory.
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