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In [arXiv:1102.1513] we introduced an inflationary scenario, Non-Abelian Gauge Field Inflation or gauge-flation for short, in which slow-roll inflation is driven by non-Abelian gauge field minimally coupled to gravity. We present a more detailed analysis, both numerical and analytical, of the gauge-flation. By studying the phase diagrams of the theory, we show that getting enough number of e-folds during a slow-roll inflation is fairly robust to the choice of initial gauge field values. In addition, we present a detailed analysis of the cosmic perturbation theory in gauge-flation which has many special and interesting features compared the standard scalar-driven inflationary models. The specific gauge-flation model we study in this paper has two parameters, a cutoff scale Lambda and the gauge coupling g. Fitting our results with the current cosmological data fixes \Lambda\sim 10 H \sim 10^{15} GeV (H is the Hubble parameter) and g\sim 10^{-4}, which are in the natural range of parameters in generic particle physics beyond standard models. Our model also predicts a tensor-to-scalar ratio r>0.05, in the range detectable by the Planck satellite.
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