Say we have a system with a given Lagrangian $L(q_i, \dot q_i, t)$.
A continuous transformation $ Q_i= q_i +εK_i $ is a symmetry when L doesn't change in first order with respect to $ε$. In the same manner, it's a symmetry of action when the action $ S= \int_{t_1}^{t_2} Ldt $ doesn't change in first order.
Is there, given the Lagrangian, a specific method for finding all the symmetries of this Lagrangian/action? If we suppose a random transformation $ Q= q +εK $ and then demand that it's a symmetry how do we proceed? Do we know what/how many symmetries to expect? Thanks in advance :)
EDIT If it makes things easier, suppose the special case of a body in a homogenous and vertical gravitational field with $L={1 \over 2} m {\dot {\vec r}}^2 -m \vec g \vec r$. How do we find the symmetries of this lagrangian and of its action? I'd prefer an answer to the general case, but solving this example would give me an insight as well.