📝 SummarXiv

Abstract

Consider a finite family $\{f_1,\dots,f_\nu\}$ of $C^\infty$ vector fields on a $n$-dimensional ($n\in\mathbb{N}$), smooth manifold $\mathcal{M}$. The celebrated Rashevskii-Chow theorem states that, provided the vector fields $\{f_1,\dots,f_\nu\}$, together with their iterated Lie brackets, span the whole tangent space at some $x_*\in\mathcal{M}$, then any $x$ in a neighborhood of $x_*$ can be connected to $x_*$ by means of a finite concatenation of integral curves of $\{\pm f_1,\dots,\pm f_\nu\}$. This result finds applications in a number of areas, e.g., in control theory, in Sub-Riemannian geometry, and the theory of degenerate elliptic and parabolic partial differential equations, to mention a few. Here we extend this basic result to families of vector fields, which are considerably less regular, in particular, by allowing iterated Lie brackets to be just bounded measurable. This is technically made possible by the utilization of set-valued Lie brackets, which have already proven to be useful in extending commutativity type results, Frobenius' theorem, and also higher-order necessary conditions for optimal control problems, to the setting of non-smooth vector fields.