The Hamiltonian tube of a cotangent-lifted action (Q1689667)

In this article, the authors obtain a construction of a Hamiltonian tube (or Marle-Guillemin-Sternberg form) for the canonical lift to \(T^*Q\) of the smooth action of a Lie group \(G\) on the base manifold \(Q\). The construction of the MGS-form preserves the fibred structure and it is explicit up to the integration of some differential equation on the Lie group \(G\).