Let M denote a smooth manifold. A metric on TM can be used to define a notion of the distance between any two points in M and the distance travelled along any given path in M. This chapter first explains how this is done then considers the distance minimizing paths. The discussions cover Riemannian metrics and distance; length minimizing curves; the existence of geodesics; examples of metrics with their corresponding geodesics; geodesics on SO(n); geodesics on U(n) and SU(n); and geodesics and matrix groups.
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