Title: Small-Time Local Controllability of Homogeneous Control-Affine Systems (½ hour)
Abstract: In this talk I will describe a class of control-affine systems whose small-time local controllability (STLC) property can be characterized by a certain variational cone. The key property that these systems possess is a symmetry with respect to time-scalings and one can exploit this symmetry to construct high-order tangent vectors to the reachable set that characterizes STLC for these systems. Moreover, we are able to give a bound on the number of differentiations needed to determine STLC for these systems.