Differential Geometry, Lie Groups, and Symmetric Spaces / 
Helgason, Sigurdur, 
 - Providence, RI :  American Mathematical Society,  2001 
 - xiii, 487 p. :  ill. ;  24 cm. 
<br/><br/> Originally published: New York : Academic Press, 1962. 
<br/><br/><label>ISBN: </label>9780821852170