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- Looking for a description of the ADM formalism for somebody who as studied some GR

So I'm reading about the Alcubierre warp drive. And it's presented in the ADM formalism.

https://en.wikipedia.org/wiki/Alcubierre_drive

And I realize that understanding it is being slowed by my not having studied the ADM formalism. So, is there a good text or website or such, that does a good explanation of the ADM formalism? I have been through the basics of GR but didn't do that. Basically I got up to Oppenheimer-Schneider dust clouds, and interior solutions for spherically symmetric stars and such like topics. So I'm looking for something that an undergrad 3rd or 4th year could use.

https://en.wikipedia.org/wiki/Alcubierre_drive

And I realize that understanding it is being slowed by my not having studied the ADM formalism. So, is there a good text or website or such, that does a good explanation of the ADM formalism? I have been through the basics of GR but didn't do that. Basically I got up to Oppenheimer-Schneider dust clouds, and interior solutions for spherically symmetric stars and such like topics. So I'm looking for something that an undergrad 3rd or 4th year could use.