Original manuscript: 2002/01/06
Manuscript last revised: 2003/08/12
Sufficient conditions involving Lie brackets of arbitrarily high-order are obtained for local controllability of families of vector fields. After providing a general framework for the generation of high-order control variations, a specific method for generating such variations is proposed. The theory is applied to a number of nontrivial examples.
Last Updated: Fri Jul 10 07:16:28 2020