Steering driftless nonholonomic systems by control quanta

We consider the problem of steering a class of nonholonomic systems, namely systems that are feedback equivalent to a strictly triangular form, which is considerably larger than other classes for which the steering problem, has been given closed form solutions in the literature. The proposed solution consists in the application of a finite concatenation of finite-support control actions chosen among a finite set, suitable selected in the input space, each resulting in a quantum change in the system state. The method results in a closed form algorithm which is exact up to an arbitrary tolerance