1. Gallier, J., Xu, D.: Computing exponential of skew-symmetric matrices and logarithms of orthogonal matrices. Int. J. Robot. Autom. 17(4), 10–20 (2002)
2. Helgason, S.: Differential Geometry, Lie Groups, and Symmetric Spaces, GSM 34. American Mathematical Society, Providence, Rhode Island (2001)
3. Horn, R.A., Johnson, C.R.: Topics in Matrix Analysis. Cambridge University Press, Cambridge (1991)
4. Horn, R.A., Johnson, C.R.: Matrix Analysis, 2nd edn. Cambridge University Press, Cambridge (2013)
5. Humphreys, J.E.: Linear Algebraic Groups, GTM 21. Springer, New York (1975)