This book starts with the mathematical basis of the theory - i.e. provide a brief sketch of the theory of manifolds and frame bundles, tensors and their transformations, relativistic kinematics, and aspects of non-flat space-time geometries. The definition of relevant physical quantities (torsion, curvature, non-metricity, tetrads, connection fields etc.) and important geometry concepts are also included. The main body of the book is devoted to a detailed derivation of the gauge theory of g ...