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Conditions to the density of accessible sets

Given a control system $\dot{p} = X_0(p) + \sum_i u_i (t)X_i(p)$ on a compact manifold M we study conditions for the foliation defined by the accessible sets be dense in M . To do this we relate the control system to a stochastic differential equation and, using the support theorem, we give a characterization of the density in terms of the infinitesimal generator of the diffusion and its invariant measures. Also we give a different proof of Krener's theorem.