Reduction in principal fiber bundles: covariant Euler-Poincare equations
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Let $π:P\to M^n$ be a principal G-bundle, and let ${\mathcal{L}}: J^1P \toΛ^n(M)$ be a G-invariant Lagrangian density. We obtain the Euler-Poincare equations for the reduced Lagrangian l defined on ${\mathcal C}(P)$, the bundle of connections on P.