Killing vector fields and a homogeneous isotropic universe

Some basic theorems on Killing vector fields are reviewed. In particular, the topic of a constant-curvature space is examined. A detailed proof is given for a theorem describing the most general form of the metric of a homogeneous isotropic space-time. Although this theorem can be considered to be commonly known, its complete proof is difficult to find in the literature. An example metric is presented such that all its spatial cross sections correspond to constant-curvature spaces, but it is not homogeneous and isotropic as a whole. An equivalent definition of a homogeneous and isotropic space-time in terms of embedded manifolds is also given.