Exponential map of a Lie group ($\exp :\mathfrak{g}\to G$)

For any Lie group, the Exponential map of a Lie group is defined by $\exp (X)={\gamma }_X(1)$, where ${\gamma }_X$ is the one-parameter subgroup with initial tangent vector $X$. For a Matrix Lie group, it is the matrix exponential $\exp X={\sum }_{n\ge 0}{X}^n/n!$. Its differential at zero is the identity, so the inverse function theorem supplies a local exponential chart. A small transformation can therefore be encoded by a vector in the Lie algebra. See MIT 18.745, Lecture 7, Definition 7.2 and Theorem 7.5.

Local invertibility makes no promise about a global inverse. In the planar rotation example, $\exp ((\theta +2\pi k)J)=\exp (\theta J)$ for every integer $k$, so the Exponential map of a Lie group is surjective onto $SO(2)$ but not injective. Restricting to $-\pi <\theta <\pi$ gives unique angles for every rotation except $R_{\pi }=-I$. The omitted half-turn exposes the cut needed for this single angle chart.

Surjectivity can also fail, even in a connected Lie group. The matrix $A=\mathrm{diag}(-2,-1/2)$ lies in the special linear group $S{L}_2(\mathbb{R})$ but has no real matrix logarithm: any logarithm must commute with $A$, hence preserve each of its distinct real eigenvectors, where exponentiating a real scalar gives a positive number. See the exponential-surjectivity obstruction from distinct negative eigenvalues. These two examples distinguish two different global obstacles: repeated parameters and unreachable elements. The Exponential map of a Lie group remains locally effective in both settings.

The Exponential map of a Lie group is a group homomorphism from the additive Lie algebra exactly when its identity component of a Lie group is abelian. If it is additive, its image is an abelian subgroup containing an identity neighborhood by the local exponential chart; connectedness makes that image the entire identity component. Conversely, in an abelian identity component the product $\exp (tX)\exp (tY)$ is a one-parameter subgroup with derivative $X+Y$, giving the identity by uniqueness. The disconnected Lie group $S_3\times \mathbb{R}$ shows that the full group need not be abelian.

The Lie product formula extends from matrices to any finite-dimensional Lie group. In a local exponential chart, smooth multiplication and its differential give $\log (\exp (sX)\exp (sY))=s(X+Y)+O(s^2)$. Taking $s=t/m$ and using the one-parameter subgroup identity shows that the $m$th power is $\exp (t(X+Y)+O(m^{-1}))$, proving the displayed limit. This proof needs only the first-order expansion, rather than convergence of the full Baker--Campbell--Hausdorff formula.

For a Lie group homomorphism $F$, the image of the integral curve through the identity of a left-invariant vector field is the integral curve of the field induced by its differential. Uniqueness of integral curves of a vector field identifies the curves for all times. Evaluating at time one gives the formula. Completeness of invariant fields follows from left translation and repetition of a local integral curve, independently of a matrix-series formula.

Since the differential of the Exponential map of a Lie group at zero is the identity, the inverse function theorem makes it a diffeomorphism on a sufficiently small neighborhood of zero. Its local inverse is a logarithm near the group identity. It need not extend to a global logarithm, even for the real general linear group.