# Definition:Lie Theory/Historical Note

The branch of mathematics now known as Lie theory emerged from the research by Marius Sophus Lie, started in $1873$, into the structure of what are now known as Lie groups.
The results of this research appeared in the publication of $3$ papers by Marius Sophus Lie and Friedrich Engel between $1888$ and $1893$, and $4$ papers by Wilhelm Karl Joseph Killing between $1888$ and $1890$.
The work built on the concepts of groups and matrices by Arthur Cayley, William Rowan Hamilton and James Joseph Sylvester, dating back to the years between $1850$ and $1859$.