Construction of a complete negatively curved singular riemannian foliation

Let (M, g) be a complete Riemannian manifold and G be a closed (connected) subgroup of the group of isometries of M. Then the union ${\MM}$ of all principal orbits is an open dense subset of M and the quotient map ${\MM} \longrightarrow {\BB} := {\MM}/G$ becomes a Riemannian submersion for the restriction of g to ${\MM}$ which gives the quotient metric on ${\BB}$. Namely, B is a singular (complete) Riemannian space such that $\partialB$ consists of non-principal orbits.