Any right-invariant optimal control problem on a Lie groupoid is claimed to reduce to one on its co-adjoint Lie algebroid, but the key step is cited, not proven.
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Optimal control problems on the co-adjoint Lie groupoids
Any right-invariant optimal control problem on a Lie groupoid is claimed to reduce to one on its co-adjoint Lie algebroid, but the key step is cited, not proven.