Cartan for Beginners: Differential Geometry via Moving Frames and Exterior Differential Systems, Second Edition

@inproceedings{Ivey2016CartanFB,
  title={Cartan for Beginners: Differential Geometry via Moving Frames and Exterior Differential Systems, Second Edition},
  author={Thomas A. Ivey and J. Landsberg},
  year={2016}
}
p. 17, Def. 1.6.4, line 2 change ω|e to ωe p. 17, line -1 change Ada−1 to Ad(a −1) p. 18, Def. 1.6.9 right-hand side of displayed equation should read [ω(X), θ(Y )] − [ω(Y ), θ(X)] (not +) p. 19, Proof of 1.6.10, last line the “uniqueness” referred to is in the Frobenius Theorem p. 20, Exercise 1.6.14.3 change “complete the proof of” to “prove” p. 20, Exercise 1.6.14.6 should begin “On a connected Lie group” and displayed equation should read dωe(X,Y ) = −[X,Y ] (not +) 
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