Involutive constrained systems and Hamilton-Jacobi formalism
  In this paper, we study singular systems with complete sets of involutive constraints. The aim is to establish, within the Hamilton-Jacobi theory, the relationship between the Frobenius' theorem, the infinitesimal canonical transformations generated by constraints in involution with the Poisson brackets, and the lagrangian point (gauge) transformations of physical systems. 
M. C. Bertin, B. M. Pimentel, C. E. Valc\'arcel
hep-th