Algebraic and geometric structures of Special Relativity
  I review, some of the algebraic and geometric structures that underlie the theory of Special Relativity. This includes a discussion of relativity as a symmetry principle, derivations of the Lorentz group, its composition law, its Lie algebra, comparison with the Galilei group, Einstein synchronization, the lattice of causally and chronologically complete regions in Minkowski space, rigid motion (the Noether-Herglotz theorem), and the geometry of rotating reference frames. Representation-theoretic aspects of the Lorentz group are not included. A series of appendices present some related mathematical material. 
Domenico Giulini