Riemannian Geometry

These notes on Riemannian geometry use the bases bundle and frame bundle, as in Geometry of Manifolds, to express the geometric structures. It has more problems and omits the background material. It starts with the definition of Riemannian and semi-Riemannian structures on manifolds. Affine connections, geodesics, torsion and curvature, the exponential map, and the Riemannian connection follow quickly. The Taylor series for of the metric in normal coordinates is an unusual feature. The last third covers, first and second variation of energy, completeness, cut points, the Hadamard-Cartan theorem, and finishes with the use of matrix Riccati equations to prove the volume comparison theorem. There is a comprehensive index.