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Lie Groupoids and Lie Algebroids in Differential Geometry - Mackenzie, K.
This book provides a striking synthesis of the standard theory of connections in principal bundles and the Lie theory of Lie groupoids. The concept of Lie groupoid is a little-known formulation of the concept of principal bundle and corresponding to the Lie algebra of a Lie group is the concept of Lie algebroid: in principal bundle terms this is the Atiyah sequence.
