“…In particular, if X is a Riemannian manifold and G is a group of isometries, g-is called a Riemannian foliation, and if X = G, a connected Lie group, then g-is called a Lie foliation, or more precisely, a G-foliation. These cases have been studied in [4,8,9,12,17,22], and elsewhere. By passing to a transverse orthogonal frame bundle, the study of Riemannian foliations can in most respects be reduced to the study of Lie foliations (see, e.g., [17]).…”