We consider an optimal control problem for a system of the form $\dot{x}$ = f(x,u), with a running cost L. We prove an interior sphere property for the level sets of the corresponding value function V. From such a property we obtain a semiconcavity result for V, as well as perimeter estimates for the attainable sets of a symmetric control system.

We show that every global viscosity solution of the Hamilton-Jacobi equation associated with a convex and superlinear Hamiltonian on the cotangent bundle of a closed manifold is necessarily invariant under the identity component of the group of symmetries of the Hamiltonian (we prove that this group is a compact Lie group). In particular, every Lagrangian section invariant under the Hamiltonian flow is also invariant under this group.