For my thesis I am working with biinvariant metrics.
I found this chapter https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&cad=rja&uact=8&ved=2ahUKEwjvzrq1q53sAhWFqqQKHYI-DzwQFjABegQIARAC&url=https%3A%2F%2Fwww.cis.upenn.edu%2F~cis610%2Fcis610-15-sl17.pdf&usg=AOvVaw03lDSPZvGaKH8HjimGoWiB during my Google research and want to cite something.
Does anyone recognize the book where this chapter is from. Unfortunately it does not contain any hint...
I think it is a preliminary version of chapter 21 of the recently released book
Differential Geometry and Lie Groups - A Computational Perspective
by Jean Gallier and Jocelyn Quaintance.