  Given two observers, we define the "relative velocity" of one observer with
respect to the other in four different ways. All four definitions are given
intrinsically, i.e. independently of any coordinate system. Two of them are
given in the framework of spacelike simultaneity and, analogously, the other
two are given in the framework of observed (lightlike) simultaneity. Properties
and physical interpretations are discussed. Finally, we study relations between
them in special relativity, and we give some examples in Schwarzschild and
Robertson-Walker spacetimes.
