Motion planning problem: Parametrized inputs and drift problem Original Research ArticleMotion planning problem: Parametrized inputs and drift problem Original Research ArticleMotion planning problem: Parametrized inputs and drift problem Original Researc

The motion planning problem consists in deriving some input steering a dynamical system to a fixed point of the state space. This problem appears to be relevant to the study of mechanical system and robotics when the system is nonholonomic.