History
The history of invariance mechanics is difficult to pinpoint since many people have been working on it without realizing that they were working on invariance mechanics. Notable milestones include the 4-dimensional invariant found by Henri Poincaré in special relativity (1905), Yang–Mills gauge invariants theory. Roger Penrose and his spin-networks (1960's) influenced the subject. Cayley–Menger and their invariant based metric theory was an important milestone. Recently Baratin–Freidel (2006) have demonstrated the connection between invariance mechanics and loop quantum gravity.
Read more about this topic: Invariance Mechanics, Constraints
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—David Hume (1711–1776)
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—Thomas Henry Huxley (1825–95)