What is it?

How is it performed?

May one perform it?

And, if so, when may it be used?


Question: Invariance of dynamical system under a transformation
Answer: This is not a surprising fact for driftless systems to have symmetries. In our previous work we considered only nonlinear systems with drift and classified the symmetries accordingly. In case of a driftless system
\dot x=F(x)u you can interpret $F$ (that's what it is) as a distribution of vector fields $f_1, \dots, f_m$ (column vectors of the matrix) and whenever such distribution is involutive ($[f_i, f_j]=\lambda_1(x)f_1+\cdots+\lambda_m(x)f_m$ then necessarily the system admits nontrivial symmetries (this is due to the Frobenius Theorem). That's the case you have here with the unicycle with $f_1=(\cos \theta, \sin \theta, 0), f_2=(0,0, 1)$. I can write in more extensive way but I hope you would get the idea from there.

Issa