Abstract
By writing the O'Neill tensors as derivatives of the natural projection one does not need the usual case distinctions any more and gets a much shorter list of basic equations. A short, induction free proof of the Frobenius theorem is a by-product.
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Gray, A.: Pseudo-Riemannian almost product manifolds and submersions, J. Math. Mech. 16 (1967), 715-737.
O'Neill, B.: The fundamental equations of a submersion, Mich. Math. J. 13 (1966), 459-469.
Besse, A. L.: Einstein Manifolds, Chap. 9. Ergebnisse 3. Folge, Band 10, Springer-Verlag, Berlin, 1987.
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Karcher, H. Submersions via Projections. Geometriae Dedicata 74, 249–260 (1999). https://doi.org/10.1023/A:1005083115426
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DOI: https://doi.org/10.1023/A:1005083115426