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About:
Derivative of the exponential map
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Formula in Lie group theory
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Operación ligada con el álgebra de Lie
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formula in Lie group theory
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http://www.staff.science.uu.nl/~hooft101/lectures/lieg07.pdf
http://www.math.harvard.edu/~shlomo/docs/lie_algebras.pdf%7Ctitle=Lie
https://www.ams.org/journals/bull/1982-06-02/S0273-0979-1982-14972-2/S0273-0979-1982-14972-2.pdf%7Ctitle=Poincar%C3%A9
https://books.google.com/books%3Fid=D9ZF5O_JH2gC&pg=PA31&dq=Dynkin+Yushkevich++Campbell&hl=en&sa=X&ei=KdRPVNXcKY-xyATHuICYDw&ved=0CB8Q6AEwAA%23v=onepage&q=Dynkin%20Yushkevich%20%20Campbell&f=false
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Derivative of the exponential map
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Derivada de la aplicación exponencial
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