Richard Sharpe, Differential geometry: Cartan’s generalization of Klein’s Erlangen program, Graduate Texts in Mathematics, vol. 166, Springer-Verlag, 1997.

Richard Sharpe, An introduction to Cartan Geometries, in: Jan Slovák, Martin Čadek (eds.): Proceedings of the 21st Winter School “Geometry and Physics”. Circolo Matematico di Palermo, Palermo, 2002. Rendiconti del Circolo Matematico di Palermo, Serie II, Supplemento No. 69. pp. [61]–75 (EuDML)

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