Add references and improve text

bib/bibliography.bib

@@ -386,3 +386,61 @@
   file = {/home/dimitri/Nextcloud/Zotero/storage/WBUCWRPK/Fong and Spivak - 2018 - Seven Sketches in Compositionality An Invitation .pdf;/home/dimitri/Nextcloud/Zotero/storage/MT7MPULY/1803.html}
 }
 
+@article{sola2018_micro_lie_theor_state_estim_robot,
+  author =	 {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan,
+                  Dinesh},
+  title =	 {A Micro Lie Theory for State Estimation in Robotics},
+  journal =	 {CoRR},
+  year =	 {2018},
+  url =		 {http://arxiv.org/abs/1812.01537v7},
+  abstract =	 {A Lie group is an old mathematical abstract object
+                  dating back to the XIX century, when mathematician
+                  Sophus Lie laid the foundations of the theory of
+                  continuous transformation groups. As it often
+                  happens, its usage has spread over diverse areas of
+                  science and technology many years later. In
+                  robotics, we are recently experiencing an important
+                  trend in its usage, at least in the fields of
+                  estimation, and particularly in motion estimation
+                  for navigation. Yet for a vast majority of
+                  roboticians, Lie groups are highly abstract
+                  constructions and therefore difficult to understand
+                  and to use. This may be due to the fact that most of
+                  the literature on Lie theory is written by and for
+                  mathematicians and physicists, who might be more
+                  used than us to the deep abstractions this theory
+                  deals with.  In estimation for robotics it is often
+                  not necessary to exploit the full capacity of the
+                  theory, and therefore an effort of selection of
+                  materials is required. In this paper, we will walk
+                  through the most basic principles of the Lie theory,
+                  with the aim of conveying clear and useful ideas,
+                  and leave a significant corpus of the Lie theory
+                  behind. Even with this mutilation, the material
+                  included here has proven to be extremely useful in
+                  modern estimation algorithms for robotics,
+                  especially in the fields of SLAM, visual odometry,
+                  and the like.  Alongside this micro Lie theory, we
+                  provide a chapter with a few application examples,
+                  and a vast reference of formulas for the major Lie
+                  groups used in robotics, including most jacobian
+                  matrices and the way to easily manipulate them. We
+                  also present a new C++ template-only library
+                  implementing all the functionality described here.},
+  archivePrefix ={arXiv},
+  eprint =	 {1812.01537},
+  primaryClass = {cs.RO},
+}
+
+@book{stillwell2008_naive_lie_theor,
+  author =	 {John Stillwell},
+  title =	 {Naive Lie Theory},
+  year =	 2008,
+  publisher =	 {Springer New York},
+  url =		 {https://doi.org/10.1007/978-0-387-78214-0},
+  DATE_ADDED =	 {Sat Oct 31 17:40:56 2020},
+  doi =		 {10.1007/978-0-387-78214-0},
+  pages =	 {nil},
+  series =	 {Undergraduate Texts in Mathematics},
+}
+